29 citations · 60 across the 11 of their papers we have counts for
11 papers · 1 filter
A Deep Learning-Driven Autonomous System for Retinal Vein Cannulation: Validation Using a Chicken Embryo Model
Yi Wang, Peiyao Zhang, Mojtaba Esfandiari +2
Retinal vein cannulation (RVC) is a minimally invasive microsurgical procedure for treating retinal vein occlusion (RVO), a leading cause of vision impairment. However, the small s…
Deep Learning-Enhanced Robotic Subretinal Injection with Real-Time Retinal Motion Compensation
Tianle Wu, Mojtaba Esfandiari, Peiyao Zhang +3
Subretinal injection is a critical procedure for delivering therapeutic agents to treat retinal diseases such as age-related macular degeneration (AMD). However, retinal motion cau…
A Feasible Workflow for Retinal Vein Cannulation in Ex Vivo Porcine Eyes with Robotic Assistance
Peiyao Zhang, Peter Gehlbach, Marin Kobilarov +1
A potential Retinal Vein Occlusion (RVO) treatment involves Retinal Vein Cannulation (RVC), which requires the surgeon to insert a microneedle into the affected retinal vein and ad…
Towards Motion Compensation in Autonomous Robotic Subretinal Injections
Demir Arikan, Peiyao Zhang, Michael Sommersperger +7
Exudative (wet) age-related macular degeneration (AMD) is a leading cause of vision loss in older adults, typically treated with intravitreal injections. Emerging therapies, such a…
Real-time Deformation-aware Control for Autonomous Robotic Subretinal Injection under iOCT Guidance
Demir Arikan, Peiyao Zhang, Michael Sommersperger +7
Robotic platforms provide consistent and precise tool positioning that significantly enhances retinal microsurgery. Integrating such systems with intraoperative optical coherence t…
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…
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…
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…