Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework.

Journal: IEEE transactions on bio-medical engineering
Published Date: Jul 1, 2019

Abstract

OBJECTIVE: Robotics-assisted retinal microsurgery provides several benefits including improvement of manipulation precision. The assistance provided to the surgeons by current robotic frameworks is, however, a "passive" support, e.g., by damping hand tremor. Intelligent assistance and active guidance are, however, lacking in the existing robotic frameworks. In this paper, an active interventional control framework (AICF) has been presented to increase operation safety by actively intervening the operation to avoid exertion of excessive forces to the sclera.

Authors

  • Changyan He
  • Niravkumar Patel
  • Mahya Shahbazi
  • Yang Yang
    Department of Gastrointestinal Surgery, The Third Hospital of Hebei Medical University, Shijiazhuang, China.
  • Peter Gehlbach
  • Marin Kobilarov
  • Iulian Iordachita
    Laboratory for Computational Sensing and Robotics (LCSR), The Johns Hopkins University, Baltimore, MD, USA.

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