1. Real-time tool to layer distance estimation for robotic subretinal injection using intraoperative 4D OCT

    Real-time tool to layer distance estimation for robotic subretinal injection using intraoperative 4D OCT

    The emergence of robotics could enable ophthalmic microsurgical procedures that were previously not feasible due to the precision limits of manual delivery, for example, targeted subretinal injection. Determining the distance between the needle tip, the internal limiting membrane (ILM), and the retinal pigment epithelium (RPE) both precisely and reproducibly is required for safe and successful robotic retinal interventions. Recent advances in intraoperative optical coherence tomography (iOCT) have opened the path for 4D image-guided surgery by providing near video-rate imaging with micron-level resolution to visualize retinal structures, surgical instruments, and tool-tissue interactions. In this work, we present a novel pipeline to ...

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