Wide-angle localization of intraocular devices from focus

Authors:
Christos Bergeles;Kamran Shamaei;Jake J. Abbott;Bradley J. Nelson
Affiliations:
Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland;Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland;Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah and Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland;Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

Future retinal therapies will be partially automated in order to increase the surgeons' ability to operate near the sensitive structure of the human eye retina. Untethered robotic devices that achieve the desired precision have been proposed, but require localization information for their control. Since the interior of the human eye is externally observable, vision can be used for localization. Previously, a focus-based paraxial localization algorithm using a Mechatronic Vitreo-retinal Ophthalmoscope (MVO) was proposed and evaluated by the authors. In this paper, the first algorithm for wide-angle intraocular localization is presented. The effectiveness of this new localization approach is demonstrated by experiments using a model eye and a customized MVO, and there is clear improvement over previously reported results.