cooperative control

Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty

Author(s): Mark Draelos, Gao Tang, Brenton Keller, Anthony Kuo, Kris Hauser, Joseph A. Izatt
Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty 170 177 IEEE Transactions on Biomedical Engineering (TBME)
Deep anterior lamellar keratoplasty (DALK) is a promising form of partial-thickness cornea transplantation, but its popular “big bubble” technique frequently fails due to difficulty controlling a needle insertion into the cornea. We addressed the surgeon challenges that reduce success rates by demonstrating an optical coherence tomography (OCT)-guided, robotically stabilized workstation for manually or automatically performing DALK needle insertions. In a study with cornea fellows, we found that OCT visualization versus the standard stereo microscope was a key enabler in manual attempts and that our automatic robotic method met or exceeded the performance of cornea fellows. read more
System Integration and In Vivo Testing of a Robot for Ultrasound Guidance and Monitoring During Radiotherapy

System Integration and In Vivo Testing of a Robot for Ultrasound Guidance and Monitoring During Radiotherapy

Author(s): Hasan Tutkun Sen, Muyinatu A. Lediju Bell, Yin Zhang, Kai Ding, Emad Boctor, John Wong, Iulian Iordachita, Peter Kazanzides
System Integration and In Vivo Testing of a Robot for Ultrasound Guidance and Monitoring During Radiotherapy 170 177 IEEE Transactions on Biomedical Engineering (TBME)

Image-guided radiation therapy (IGRT) involves two main steps: (1) planning/simulation using computerized tomography (CT) imaging and (2) fractionated treatment delivery using a linear accelerator (LINAC). These are performed on different…

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