29 citations · 101 across the 15 of their papers we have counts for
9 papers · 1 filter
Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study
Mojtaba Esfandiari, Ji Woong Kim, Botao Zhao +5
A surgeon's physiological hand tremor can significantly impact the outcome of delicate and precise retinal surgery, such as retinal vein cannulation (RVC) and epiretinal membrane p…
Steady-Hand Eye Robot 3.0: Optimization and Benchtop Evaluation for Subretinal Injection
Alireza Alamdar, David E. Usevitch, Jiahao Wu +3
Subretinal injection methods and other procedures for treating retinal conditions and diseases (many considered incurable) have been limited in scope due to limited human motor con…
Towards Deep Learning Guided Autonomous Eye Surgery Using Microscope and iOCT Images
Ji Woong Kim, Shuwen Wei, Peiyao Zhang +4
Recent advancements in retinal surgery have paved the way for a modern operating room equipped with a surgical robot, a microscope, and intraoperative optical coherence tomography…
Micromanipulation in Surgery: Autonomous Needle Insertion Inside the Eye for Targeted Drug Delivery
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach +2
We consider a micromanipulation problem in eye surgery, specifically retinal vein cannulation (RVC). RVC involves inserting a microneedle into a retinal vein for the purpose of tar…
Deep Learning Guided Autonomous Surgery: Guiding Small Needles into Sub-Millimeter Scale Blood Vessels
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach +2
We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement o…
Human-Robot Interaction in Retinal Surgery: A Comparative Study of Serial and Parallel Cooperative Robots
Botao Zhao, Mojtaba Esfandiari, David E. Usevitch +2
Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabiliti…
A Data-Driven Model with Hysteresis Compensation for I2RIS Robot
Mojtaba Esfandiari, Yanlin Zhou, Shervin Dehghani +6
Retinal microsurgery is a high-precision surgery performed on an exceedingly delicate tissue. It now requires extensively trained and highly skilled surgeons. Given the restricted…
Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in ex vivo Porcine Eyes
Peiyao Zhang, Ji Woong Kim, Peter Gehlbach +2
Important challenges in retinal microsurgery include prolonged operating time, inadequate force feedback, and poor depth perception due to a constrained top-down view of the surger…
Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing
Shervin Dehghani, Michael Sommersperger, Peiyao Zhang +6
In the last decade, various robotic platforms have been introduced that could support delicate retinal surgeries. Concurrently, to provide semantic understanding of the surgical ar…