A Tremor Evaluation Method for Retinal Injection Micro-needle by Microscopic Videos

Various types of surgical robots have gradually occupied more positions in modern medical care due to safety and stability reasons. Retinal surgical robots are still in the development stage, so there is still a lack of some surgical indicators to evaluate the safety and stability of surgical robots. In order to evaluate the performance of robot-assisted surgery more accurately, this paper proposes a method to evaluate the tremor of tools based on video collected by a microscope in surgery. This method is mainly dedicated to evaluating the tremor level of tools in clinical retinal surgery, in order to verify the pulling of the wound during surgery. The method is mainly divided into three parts: tool semantic segmentation, key point extraction, tip-end reasoning and tremor evaluation. Firstly, the method extracts the outline label of the tool through semantic segmentation. Then, some key points on the outline, which could reflect the posture, could be obtained by skeleton extraction, edge straight line fitting. After that, these points could be used to assess the tilt angle of the needle. Also, according to the angle and the actual length of the needle tip, the position of the needle tip could be assessed in the image, and finally the algorithm could evaluate the tremor level based on the change in position. This method could evaluate the tremor of the tool in clinical surgery, which can help to evaluate the safety and stability of the retinal injection surgery.