Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing

no code implementations • 17 Jan 2023 • Shervin Dehghani, Michael Sommersperger, Peiyao Zhang, Alejandro Martin-Gomez, Benjamin Busam, Peter Gehlbach, Nassir Navab, M. Ali Nasseri, Iulian Iordachita

In this work, we propose a framework for autonomous robotic navigation for subretinal injection, based on intelligent real-time processing of iOCT volumes.

Pose Estimation Trajectory Planning

ColibriDoc: An Eye-in-Hand Autonomous Trocar Docking System

no code implementations • 30 Nov 2021 • Shervin Dehghani, Michael Sommersperger, Junjie Yang, Benjamin Busam, Kai Huang, Peter Gehlbach, Iulian Iordachita, Nassir Navab, M. Ali Nasseri

For this purpose, we present a platform for autonomous trocar docking that combines computer vision and a robotic setup.

Medical Procedure Navigate

Towards Robotic Eye Surgery: Marker-free, Online Hand-eye Calibration using Optical Coherence Tomography Images

no code implementations • 17 Aug 2018 • Mingchuan Zhou, Mahdi Hamad, Jakob Weiss, Abouzar Eslami, Kai Huang, Mathias Maier, Chris P. Lohmann, Nassir Navab, Alois Knoll, M. Ali Nasseri

Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation.