EyeSAM: graph-based localization and mapping of retinal vasculature during intraocular microsurgery

International Journal of Computer Assisted Radiology and Surgery
Shohin MukherjeeCameron N Riviere

Abstract

Robot-assisted intraocular microsurgery can improve performance by aiding the surgeon in operating on delicate micron-scale anatomical structures of the eye. In order to account for the eyeball motion that is typical in intraocular surgery, there is a need for fast and accurate algorithms that map the retinal vasculature and localize the retina with respect to the microscope. This work extends our previous work by a graph-based SLAM formulation using a sparse incremental smoothing and mapping (iSAM) algorithm. The resulting technique, "EyeSAM," performs SLAM for intraoperative vitreoretinal surgical use while avoiding spurious duplication of structures as with the previous simpler technique. The technique also yields reduction in average pixel error in the camera motion estimation. This work provides techniques to improve intraoperative tracking of retinal vasculature by handling loop closures and achieving increased robustness to quick shaky motions and drift due to uncertainties in the motion estimation.

References

Mar 17, 2000·IEEE Transactions on Information Technology in Biomedicine : a Publication of the IEEE Engineering in Medicine and Biology Society·A CanB Roysam
Apr 30, 2010·IEEE Transactions on Instrumentation and Measurement·Robert A Maclachlan, Cameron N Riviere
Apr 5, 2011·Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics·Ali UneriIulian Iordachita
Nov 25, 2014·IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division·Sungwook YangCameron N Riviere
Jan 14, 2017·Acta Ophthalmologica·Koen WillekensPeter Stalmans
Jul 19, 2017·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Daniel BraunBrian C Becker
Aug 2, 2017·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Jason T WilsonTsu-Chin Tsao
Oct 3, 2017·IEEE International Conference on Robotics and Automation : ICRA : [proceedings]·Shohin MukherjeeCameron N Riviere
Feb 12, 2019·The International Journal of Robotics Research·Sungwook YangCameron N Riviere

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Citations

Apr 24, 2020·International Journal of Computer Assisted Radiology and Surgery·Claudio S RavasioChristos Bergeles
Oct 1, 2020·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Dongbo ZhouKotaro Tadano

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