1. Towards Robotic Eye Surgery: Marker-free, Online Hand-eye Calibration using Optical Coherence Tomography Images

    Towards Robotic Eye Surgery: Marker-free, Online Hand-eye Calibration using Optical Coherence Tomography Images

    Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising solution that brings significant improvements in outcomes and reduces the physical limitations of human surgeons. However, this technology must be further developed before it can be routinely used in clinics. One of the problems is the lack of proper calibration between the robotic manipulator and appropriate imaging device. In this work, we developed a flexible framework for hand-eye calibration of an ophthalmic robot with a microscope-integrated Optical Coherence Tomography (MI-OCT) without any markers. The proposed method ...

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