Precision forceps tracking and localisation using a Kalman filter for continuous curvilinear capsulorhexis.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Dec 1, 2022

Abstract

BACKGROUND: Continuous curvilinear capsulorhexis (CCC) requires surgeons to manipulate fragile eye tissue at the microscale. The limited perceptual accuracy of surgeons makes it difficult to precisely position the forceps. Robot technology provides a feasible way to improve the performance of CCC.

Authors

  • Chuang Lin
  • Yu Zheng
    Department of Thoracic Surgery, West China Hospital of Sichuan University, Chengdu 610041, China.
  • Chenhan Guang
    School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
  • Ke Ma
    Shanghai Key Laboratory of Crime Scene Evidence, Shanghai Research Institute of Criminal Science and Technology Shanghai 200083 China yangfyhit@sina.com +86 021 22028363 +86 021 22028362.
  • Yang Yang
    Department of Gastrointestinal Surgery, The Third Hospital of Hebei Medical University, Shijiazhuang, China.

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