Magnification‐Invariant Retinal Distance Estimation for Vitreoretinal Surgery Using a Laser Aiming Beam
Using the area of laser aiming beam attached to the surgical tool, our method can predict the distance of the surgical tool to the retina with errors that are acceptable for implementing virtual fixtures during robot-assisted retinal surgery. The predicted distance is also independent of microscope magnification and can work when initial parameters are not precisely known. Future work will involve adapting this method to in vivo environments and further reduction in prediction errors.
Authors
- Jennifer Adeghate (ORCID: https://orcid.org/0000-0001-7713-3467)
- Sungwook Yang (ORCID: https://orcid.org/0000-0002-9394-5358)
- Cameron N. Riviere (ORCID: https://orcid.org/0000-0002-6749-3140)
- Arpita Routray
- Joseph Nissim Martel
- Marjan Fooladi
- Robert A. MacLachlan (ORCID: https://orcid.org/0009-0001-0388-0950)
- Chaniya Jaroenkunathum
Institutions
- University of Pittsburgh (US)
- Carnegie Robotics (United States) (US)
- Robotics Research (United States) (US)
- Carnegie Mellon University (US)
Publication Details
- Journal
- International Journal of Medical Robotics and Computer Assisted Surgery
- Published
- 2025-10-01
- DOI
- https://doi.org/10.1002/rcs.70113
- Primary Topic
- Soft Robotics and Applications
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- National Institutes of Health
- National Institute of General Medical Sciences