6DOF Needle Pose Estimation for Robot-Assisted Vitreoretinal Surgery
Vitreoretinal (VR) surgery is typical microsurgery with delicate and complex surgical procedures. The vision-based navigation for robot-assisted VR surgery has not been fully exploited because of the challenges that arise from illumination, high precision, and safety assessments. This paper presents...
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8695065/ |
| _version_ | 1831813621076721664 |
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| author | Mingchuan Zhou Xing Hao Abouzar Eslami Kai Huang Caixia Cai Chris P. Lohmann Nassir Navab Alois Knoll M. Ali Nasseri |
| author_facet | Mingchuan Zhou Xing Hao Abouzar Eslami Kai Huang Caixia Cai Chris P. Lohmann Nassir Navab Alois Knoll M. Ali Nasseri |
| author_sort | Mingchuan Zhou |
| collection | DOAJ |
| description | Vitreoretinal (VR) surgery is typical microsurgery with delicate and complex surgical procedures. The vision-based navigation for robot-assisted VR surgery has not been fully exploited because of the challenges that arise from illumination, high precision, and safety assessments. This paper presents a novel method to estimate the 6DOF needle pose specifically for the application of robotic intraocular needle navigation using optical coherence tomography (OCT) volumes. The key ingredients of the proposed method are (1) 3D needle point cloud segmentation in OCT volume and (2) needle point cloud 6DOF pose estimation using a modified iterative closest point (ICP) algorithm. To address the former, a voting mechanism with geometric features of the needle is utilized to robustly segment the needle in OCT volume. Afterward, the CAD model of the needle point cloud is matched with the segmented needle point cloud to estimate the 6DOF needle pose with a proposed shift-rotate ICP (SR-ICP). This method is evaluated by the existing ophthalmic robot on ex-vivo pig eyes. The quantitative and qualitative results are evaluated and presented for the proposed method. |
| first_indexed | 2024-12-22T21:58:34Z |
| format | Article |
| id | doaj.art-31a73c366e2f43e9a51bc77611db6d9a |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-22T21:58:34Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-31a73c366e2f43e9a51bc77611db6d9a2022-12-21T18:11:10ZengIEEEIEEE Access2169-35362019-01-017631136312210.1109/ACCESS.2019.291232786950656DOF Needle Pose Estimation for Robot-Assisted Vitreoretinal SurgeryMingchuan Zhou0https://orcid.org/0000-0002-6944-1483Xing Hao1Abouzar Eslami2Kai Huang3Caixia Cai4https://orcid.org/0000-0002-3568-1227Chris P. Lohmann5Nassir Navab6Alois Knoll7M. Ali Nasseri8Chair of Robotics, Artificial Intelligence and Real-Time Systems, Technical University of Munich, Munich, GermanyChair of Robotics, Artificial Intelligence and Real-Time Systems, Technical University of Munich, Munich, GermanyCarl Zeiss Meditec AG, Munich, GermanySchool of Data and Computer Science, Sun Yat-sen University, Guangzhou, ChinaA*STAR, Institute for Infocomm Research(I2R), SingaporeKlinik und Poliklinik für Augenheilkunde, Klinikum rechts der Isar der, Technical University of Munich, Munich, GermanyComputer Aided Medical Procedures and Augmented Reality, Technical University of Munich, Munich, GermanyChair of Robotics, Artificial Intelligence and Real-Time Systems, Technical University of Munich, Munich, GermanyKlinik und Poliklinik für Augenheilkunde, Klinikum rechts der Isar der, Technical University of Munich, Munich, GermanyVitreoretinal (VR) surgery is typical microsurgery with delicate and complex surgical procedures. The vision-based navigation for robot-assisted VR surgery has not been fully exploited because of the challenges that arise from illumination, high precision, and safety assessments. This paper presents a novel method to estimate the 6DOF needle pose specifically for the application of robotic intraocular needle navigation using optical coherence tomography (OCT) volumes. The key ingredients of the proposed method are (1) 3D needle point cloud segmentation in OCT volume and (2) needle point cloud 6DOF pose estimation using a modified iterative closest point (ICP) algorithm. To address the former, a voting mechanism with geometric features of the needle is utilized to robustly segment the needle in OCT volume. Afterward, the CAD model of the needle point cloud is matched with the segmented needle point cloud to estimate the 6DOF needle pose with a proposed shift-rotate ICP (SR-ICP). This method is evaluated by the existing ophthalmic robot on ex-vivo pig eyes. The quantitative and qualitative results are evaluated and presented for the proposed method.https://ieeexplore.ieee.org/document/8695065/Biomedical engineeringbiomedical image processingbiomedical signal processingmedical robotics |
| spellingShingle | Mingchuan Zhou Xing Hao Abouzar Eslami Kai Huang Caixia Cai Chris P. Lohmann Nassir Navab Alois Knoll M. Ali Nasseri 6DOF Needle Pose Estimation for Robot-Assisted Vitreoretinal Surgery IEEE Access Biomedical engineering biomedical image processing biomedical signal processing medical robotics |
| title | 6DOF Needle Pose Estimation for Robot-Assisted Vitreoretinal Surgery |
| title_full | 6DOF Needle Pose Estimation for Robot-Assisted Vitreoretinal Surgery |
| title_fullStr | 6DOF Needle Pose Estimation for Robot-Assisted Vitreoretinal Surgery |
| title_full_unstemmed | 6DOF Needle Pose Estimation for Robot-Assisted Vitreoretinal Surgery |
| title_short | 6DOF Needle Pose Estimation for Robot-Assisted Vitreoretinal Surgery |
| title_sort | 6dof needle pose estimation for robot assisted vitreoretinal surgery |
| topic | Biomedical engineering biomedical image processing biomedical signal processing medical robotics |
| url | https://ieeexplore.ieee.org/document/8695065/ |
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