6 papers
An Extended Generalized Prandtl-Ishlinskii Hysteresis Model for I2RIS Robot
Yiyao Yue, Mojtaba Esfandiari, Pengyuan Du +5
Retinal surgery requires extreme precision due to constrained anatomical spaces in the human retina. To assist surgeons achieve this level of accuracy, the Improved Integrated Robo…
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…
Model Predictive Path Integral Control of I2RIS Robot Using RBF Identifier and Extended Kalman Filter
Mojtaba Esfandiari, Pengyuan Du, Haochen Wei +4
Modeling and controlling cable-driven snake robots is a challenging problem due to nonlinear mechanical properties such as hysteresis, variable stiffness, and unknown friction betw…
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…