Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery

Marcin Balicki, Jae Ho Han, Iulian Iordachita, Peter Gehlbach, James Handa, Russell Taylor, Jin Kang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages108-115
Number of pages8
Volume5761 LNCS
EditionPART 1
DOIs
Publication statusPublished - 2009 Dec 1
Externally publishedYes
Event12th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2009 - London, United Kingdom
Duration: 2009 Sep 202009 Sep 24

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume5761 LNCS
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other12th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2009
CountryUnited Kingdom
CityLondon
Period09/9/2009/9/24

Fingerprint

Optical Coherence Tomography
Optical tomography
Surgery
Robot
Fiber
Robots
Fibers
Demonstrations
Prototype
Path
Target
Phantom
Hits
Experimentation
Optical Fiber
Gages
System Design
Robotics
Optical fibers
Gauge

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Balicki, M., Han, J. H., Iordachita, I., Gehlbach, P., Handa, J., Taylor, R., & Kang, J. (2009). Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (PART 1 ed., Vol. 5761 LNCS, pp. 108-115). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5761 LNCS, No. PART 1). https://doi.org/10.1007/978-3-642-04268-3_14

Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery. / Balicki, Marcin; Han, Jae Ho; Iordachita, Iulian; Gehlbach, Peter; Handa, James; Taylor, Russell; Kang, Jin.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5761 LNCS PART 1. ed. 2009. p. 108-115 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5761 LNCS, No. PART 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Balicki, M, Han, JH, Iordachita, I, Gehlbach, P, Handa, J, Taylor, R & Kang, J 2009, Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). PART 1 edn, vol. 5761 LNCS, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 5761 LNCS, pp. 108-115, 12th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2009, London, United Kingdom, 09/9/20. https://doi.org/10.1007/978-3-642-04268-3_14
Balicki M, Han JH, Iordachita I, Gehlbach P, Handa J, Taylor R et al. Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). PART 1 ed. Vol. 5761 LNCS. 2009. p. 108-115. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). https://doi.org/10.1007/978-3-642-04268-3_14
Balicki, Marcin ; Han, Jae Ho ; Iordachita, Iulian ; Gehlbach, Peter ; Handa, James ; Taylor, Russell ; Kang, Jin. / Single fiber optical coherence tomography microsurgical instruments for computer and robot-assisted retinal surgery. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5761 LNCS PART 1. ed. 2009. pp. 108-115 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).
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