Trocar localisation for robot-assisted vitreoretinal surgery.

Journal: International journal of computer assisted radiology and surgery
Published Date: Feb 1, 2024

Abstract

PURPOSE: Robot-assisted vitreoretinal surgery provides precise and consistent operations on the back of the eye. To perform this safely, knowledge of the surgical instrument's remote centre of motion (RCM) and the location of the insertion point into the eye (trocar) is required. This enables the robot to align both positions to pivot the instrument about the trocar, thus preventing any damaging lateral forces from being exerted.

Authors

  • Jeremy Birch
    School of Biomedical Engineering and Imaging Sciences, King's College London, Strand, London, WC2R 2LS, UK. jeremy.birch@kcl.ac.uk.
  • Lyndon Da Cruz
    Moorfields Eye Hospital NHS Foundation Trust, London, UK.
  • Kawal Rhode
    Division of Imaging Sciences and Biomedical Engineering, King's College London, UK.
  • Christos Bergeles
    Translational Imaging Group, Centre for Medical Image Computing, Department of Medical Physics and Biomedical Engineering, UCL, London, NW1 2HE, United Kingdom. c.bergeles@ucl.ac.uk.

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