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International Journal of Computer Assisted Radiology and Surgery

Erschienen in:

18.03.2019 | Original Article

Preliminary study of an RNN-based active interventional robotic system (AIRS) in retinal microsurgery

verfasst von: Changyan He, Niravkumar Patel, Ali Ebrahimi, Marin Kobilarov, Iulian Iordachita

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 6/2019

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Abstract

Purpose

Retinal microsurgery requires highly dexterous and precise maneuvering of instruments inserted into the eyeball through the sclerotomy port. During such procedures, the sclera can potentially be injured from extreme tool-to-sclera contact force caused by surgeon’s unintentional misoperations.

Methods

We present an active interventional robotic system to prevent such iatrogenic accidents by enabling the robotic system to actively counteract the surgeon’s possible unsafe operations in advance of their occurrence. Relying on a novel force sensing tool to measure and collect scleral forces, we construct a recurrent neural network with long short-term memory unit to oversee surgeon’s operation and predict possible unsafe scleral forces up to the next 200 ms. We then apply a linear admittance control to actuate the robot to reduce the undesired scleral force. The system is implemented using an existing “steady hand” eye robot platform. The proposed method is evaluated on an artificial eye phantom by performing a “vessel following” mock retinal surgery operation.

Results

Empirical validation over multiple trials indicates that the proposed active interventional robotic system could help to reduce the number of unsafe manipulation events.

Conclusions

We develop an active interventional robotic system to actively prevent surgeon’s unsafe operations in retinal surgery. The result of the evaluation experiments shows that the proposed system can improve the surgeon’s performance.

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Titel: Preliminary study of an RNN-based active interventional robotic system (AIRS) in retinal microsurgery
verfasst von: Changyan He
Niravkumar Patel
Ali Ebrahimi
Marin Kobilarov
Iulian Iordachita
Publikationsdatum: 18.03.2019
Verlag: Springer International Publishing
Erschienen in: International Journal of Computer Assisted Radiology and Surgery / Ausgabe 6/2019
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-019-01947-9

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Abstract

Purpose

Methods

Results

Conclusions

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