Wide-Angle Intraocular Imaging and Localization

Authors:
Christos Bergeles;Kamran Shamaei;Jake J. Abbott;Bradley J. Nelson
Affiliations:
Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland 8092;Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland 8092;Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland 8092 and Department of Mechanical Engineering, University of Utah, Salt Lake City 84112;Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland 8092
Venue:
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Year:
2009

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Abstract

Vitreoretinal surgeries require accuracy and dexterity that is often beyond the capabilities of human surgeons. Untethered robotic devices that can achieve the desired precision have been proposed, and localization information is required for their control. Since the interior of the human eye is externally observable, vision can be used for their localization. In this paper we examine the effects of the human eye optics on imaging and localizing intraocular devices. We propose a method for wide-angle intraocular imaging and localization. We demonstrate accurate localization with experiments in a model eye.