TY - GEN
T1 - Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery
AU - Balicki, Marcin
AU - Han, Jae Ho
AU - Iordachita, Iulian
AU - Gehlbach, Peter
AU - Handa, James
AU - Taylor, Russell
AU - Kang, Jin
PY - 2009
Y1 - 2009
N2 - We present initial prototype and preliminary experimental demonstration of a new class of microsurgical instruments that incorporate common path optical coherence tomography (CP-OCT) capabilities. These instruments may be used freehand or with robotic assistance. We describe a prototype 25 gauge microsurgical pick incorporating a single 125 (m diameter optical fiber interfaced to a Fourier Domain CP-OCT system developed in our laboratory. For initial experimentation, we have interfaced this instrument with an extremely precise, cooperatively controlled robot. We describe the tool, system design, and demonstration of three control methods on simple phantom models: 1) enforce ment of safety constraints preventing unintentional collisions of the instrument with the retinal surface; 2) the ability to scan the probe across a surface while maintaining a constant distance offset; and 3) the ability to place the pick over a subsurface target identified in a scan and then penetrate the surface to hit the target.
AB - We present initial prototype and preliminary experimental demonstration of a new class of microsurgical instruments that incorporate common path optical coherence tomography (CP-OCT) capabilities. These instruments may be used freehand or with robotic assistance. We describe a prototype 25 gauge microsurgical pick incorporating a single 125 (m diameter optical fiber interfaced to a Fourier Domain CP-OCT system developed in our laboratory. For initial experimentation, we have interfaced this instrument with an extremely precise, cooperatively controlled robot. We describe the tool, system design, and demonstration of three control methods on simple phantom models: 1) enforce ment of safety constraints preventing unintentional collisions of the instrument with the retinal surface; 2) the ability to scan the probe across a surface while maintaining a constant distance offset; and 3) the ability to place the pick over a subsurface target identified in a scan and then penetrate the surface to hit the target.
UR - http://www.scopus.com/inward/record.url?scp=84863731595&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-04268-3_14
DO - 10.1007/978-3-642-04268-3_14
M3 - Conference contribution
C2 - 20425977
AN - SCOPUS:84863731595
SN - 3642042678
SN - 9783642042676
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 108
EP - 115
BT - Medical Image Computing and Computer-Assisted Intervention - MICCAI 2009 - 12th International Conference, Proceedings
T2 - 12th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2009
Y2 - 20 September 2009 through 24 September 2009
ER -