Becker Brian C, Valdivieso Cristina Robles, Biswas Joydeep, Lobes Louis A, Riviere Cameron N
The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:5587-90. doi: 10.1109/IEMBS.2009.5333489.
Laser photocoagulation is a standard interventional tool in vitreoretinal surgery. Commonly applied treatments such as grid photocoagulation and panretinal photocoagulation involve the application of hundreds of dot-like laser burns to the retina. In order to enhance the accuracy and reduce the tedium of this procedure, we are developing a robot-assisted technique for retinal laser photocoagulation that includes software for planning patterns of laser burns on a retinal image and uses an active handheld micromanipulator known as Micron in order to apply the pattern of burns to the retina. The paper describes the system and presents preliminary results. In a sample 7x7 pattern of lesions applied to an artificial surface, the system demonstrated a mean position error of 43+/-23 microm.
激光光凝术是玻璃体视网膜手术中的一种标准介入工具。常见的应用治疗方法，如格栅光凝术和全视网膜光凝术，需要在视网膜上施加数百个点状激光灼伤。为了提高该手术的准确性并减少其繁琐程度，我们正在开发一种用于视网膜激光光凝术的机器人辅助技术，该技术包括用于在视网膜图像上规划激光灼伤图案的软件，并使用一种名为Micron的有源手持式微操纵器将灼伤图案应用于视网膜。本文描述了该系统并展示了初步结果。在应用于人工表面的7x7病变样本图案中，该系统显示平均位置误差为43±23微米。
