12 citations · 28 across the 7 of their papers we have counts for
7 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…
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…
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…
Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration
Ji Woong Kim, Changyan He, Muller Urias +4
A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a pr…
Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach +2
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgica…