Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in ex vivo Porcine Eyes
Peiyao Zhang,Ji Woong Kim,Peter Gehlbach,Iulian Iordachita,Marin Kobilarov,Peiyao Zhang,Ji Woong Kim,Peter Gehlbach,Iulian Iordachita,Marin Kobilarov
Important challenges in retinal microsurgery in-clude prolonged operating time, inadequate force feedback, and poor depth perception due to a constrained top-down view of the surgery. The introduction of robot-assisted technology could potentially deal with such challenges and improve the surgeon's performance. Motivated by such challenges, this work develops a strategy for autonomous needle navig...
