Ophthalmic intraoperative OCT system with robotic arm-based tracking of surgical tools

Karol Karnowski; Krzysztof Gromada; Tomasz Piesio; Piotr Ciąćka; Adam Kurek; Andrea Curatolo

doi:10.1117/12.3001882

13 March 2024 Ophthalmic intraoperative OCT system with robotic arm-based tracking of surgical tools

Karol Karnowski, Krzysztof Gromada, Tomasz Piesio, Piotr Ciąćka, Adam Kurek, Andrea Curatolo

Proceedings Volume PC12831, Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XXII; PC128310E (2024) https://doi.org/10.1117/12.3001882
Event: SPIE BiOS, 2024, San Francisco, California, United States

Abstract

Surgeries performed on human eye require a high level of dexterity. Accuracy of widely used ophthalmic stereomicroscopes can be affected by limited depth perception and precision reduced by physiological tremor. Robotic arm-assisted manipulation of surgical tools improves precision, while intraoperative Optical Coherence Tomography (OCT) provides depth information and improves accuracy. Our hardware and software solutions enable tracking the tool tip to ensure the displayed OCT cross-scans, rather than 3-D volumes, are always locked to the tools’ tip position parsed from the robotic arm subsystem. Tool tracking errors for lateral movement and rotation are discussed for various velocities of the tool.

Conference Presentation

Citation Download Citation

Karol Karnowski, Krzysztof Gromada, Tomasz Piesio, Piotr Ciąćka, Adam Kurek, and Andrea Curatolo "Ophthalmic intraoperative OCT system with robotic arm-based tracking of surgical tools", Proc. SPIE PC12831, Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XXII, PC128310E (13 March 2024); https://doi.org/10.1117/12.3001882

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