Dehghani Shervin, Sommersperger Michael, Yang Junjie, Salehi Mehrdad, Busam Benjamin, Huang Kai, Gehlbach Peter, Iordachita Iulian, Navab Nassir, Nasseri M Ali
Department of Computer Science in Technische Universität München, München 85748 Germany.
Augenklinik und Poliklinik, Klinikum rechts der Isar der Technische Universität München, München 81675 Germany.
IEEE Int Conf Robot Autom. 2022 May;2022:7717-7723. doi: 10.1109/icra46639.2022.9811364. Epub 2022 Jul 12.
Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently under development to enable or improve the outcome of microsurgical tasks. Since the control of such robots is often designed for navigation inside the eye in proximity to the retina, successful trocar docking and insertion of the instrument into the eye represents an additional cognitive effort, and is therefore one of the open challenges in robotic retinal surgery. For this purpose, we present a platform for autonomous trocar docking that combines computer vision and a robotic setup. Inspired by the Cuban Colibri (hummingbird) aligning its beak to a flower using only vision, we mount a camera onto the endeffector of a robotic system. By estimating the position and pose of the trocar, the robot is able to autonomously align and navigate the instrument towards the Trocar Entry Point (TEP) and finally perform the insertion. Our experiments show that the proposed method is able to accurately estimate the position and pose of the trocar and achieve repeatable autonomous docking. The aim of this work is to reduce the complexity of the robotic setup prior to the surgical task and therefore, increase the intuitiveness of the system integration into clinical workflow.
视网膜手术是一项复杂的医疗程序，需要卓越的专业技能和灵巧性。为此，目前有几个机器人平台正在研发中，以实现或改善显微手术任务的效果。由于此类机器人的控制通常是为在靠近视网膜的眼内导航而设计的，成功进行套管针对接并将器械插入眼内需要额外的认知努力，因此是机器人视网膜手术中的一个开放性挑战。为此，我们提出了一个自主套管针对接平台，该平台结合了计算机视觉和机器人装置。受古巴蜂鸟仅利用视觉将喙对准花朵的启发，我们在机器人系统的末端执行器上安装了一个摄像头。通过估计套管针的位置和姿态，机器人能够自主地将器械对准并导航至套管针入口点（TEP），最终完成插入操作。我们的实验表明，所提出的方法能够准确估计套管针的位置和姿态，并实现可重复的自主对接。这项工作的目的是降低手术任务前机器人装置的复杂性，从而提高系统集成到临床工作流程中的直观性。
