ColibriDoc: an Eye-in-Hand Autonomous Trocar Docking System
Shervin Dehghani,Michael Sommersperger,Junjie Yang,Mehrdad Salehi,Benjamin Busam,Kai Huang,Peter Gehlbach,Iulian Iordachita,Nassir Navab,M. Ali Nasseri,Shervin Dehghani,Michael Sommersperger,Junjie Yang,Mehrdad Salehi,Benjamin Busam,Kai Huang,Peter Gehlbach,Iulian Iordachita,Nassir Navab,M. Ali Nasseri
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 in...
