Becker Brian C, Riviere Cameron N
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
IEEE Int Conf Robot Autom. 2013:5360-5365. doi: 10.1109/ICRA.2013.6631345.
Computer-aided intraocular surgery requires precise, real-time knowledge of the vasculature during retinal procedures such as laser photocoagulation or vessel cannulation. Because vitreoretinal surgeons manipulate retinal structures on the back of the eye through ports in the sclera, voluntary and involuntary tool motion rotates the eye in the socket and causes movement to the microscope view of the retina. The dynamic nature of the surgical workspace during intraocular surgery makes mapping, tracking, and localizing vasculature in real time a challenge. We present an approach that both maps and localizes retinal vessels by temporally fusing and registering individual-frame vessel detections. On video of porcine and human retina, we demonstrate real-time performance, rapid convergence, and robustness to variable illumination and tool occlusion.
计算机辅助眼内手术在诸如激光光凝或血管插管等视网膜手术过程中需要精确的实时血管系统信息。由于玻璃体视网膜外科医生通过巩膜切口操作眼球后部的视网膜结构，手动和非手动工具运动会使眼球在眼窝内转动，从而导致视网膜显微镜视图发生移动。眼内手术期间手术工作空间的动态特性使得实时绘制、跟踪和定位血管系统成为一项挑战。我们提出了一种通过对单帧血管检测进行时间融合和配准来绘制和定位视网膜血管的方法。在猪和人类视网膜的视频上，我们展示了实时性能、快速收敛以及对可变光照和工具遮挡的鲁棒性。
