The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

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 dotlike 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 μm.

Keywords

micromanipulators, visual servoing, laser photocoagulation

Notes

Sponsor: National Institutes of Health, National Science Foundation (Graduate Research Fellowship), ARCS Foundation.

Grant ID: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5333489&isnumber=5332379

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Associated Project(s): Micron: Intelligent Microsurgical Instruments

Text Reference

Brian Becker, Cristina Robles Valdivieso, Joydeep Biswas, Louis Lobes, and Cameron Riviere, "Active guidance for laser retinal surgery with a handheld instrument," Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2009 (EMBC 2009)., September, 2009, pp. 5587-5590.

BibTeX Reference

@inproceedings{Becker_2009_6501,
   author = "Brian Becker and Cristina {Robles Valdivieso} and Joydeep Biswas and Louis Lobes and Cameron Riviere",
   title = "Active guidance for laser retinal surgery with a handheld instrument",
   booktitle = "Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2009 (EMBC 2009).",
   pages = "5587-5590",
   publisher = "IEEE",
   address = "http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5333489&isnumber=5332379",
   month = "September",
   year = "2009",
}

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