Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration
Ji Woong Kim,Changyan He,Muller Urias,Peter Gehlbach,Gregory D. Hager,Iulian Iordachita,Marin Kobilarov,Ji Woong Kim,Changyan He,Muller Urias,Peter Gehlbach,Gregory D. Hager,Iulian Iordachita,Marin Kobilarov
A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In practice, the surgeon relies on depth-estimation skills to localize the tool-tip with respect to the retina in order to perform the tool-navigation task, which...
