1. Articles from Nabil Simaan

    1-3 of 3
    1. Investigation of Micro-motion Kinematics of Continuum Robots for Volumetric OCT and OCT-guided Visual Servoing

      Investigation of Micro-motion Kinematics of Continuum Robots for Volumetric OCT and OCT-guided Visual Servoing

      Continuum robots (CR) have been recently shown capable of micron-scale motion resolutions. Such motions are achieved through equilibrium modulation using indirect actuation for altering either internal preload forces or changing the cross-sectional stiffness along the length of a continuum robot. Previously reported, but unexplained, turning point behavior is modeled using two approaches. An energy minimization approach is first used to explain the source of this behavior. Subsequently, a kinematic model using internal constraints in multi-backbone CRs is used to replicate this turning point behavior. An approach for modeling the micro-motion differential kinematics is presented using experimental data based on the ...

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    2. A Review of Robotic and OCT-Aided Systems for Vitreoretinal Surgery

      A Review of Robotic and OCT-Aided Systems for Vitreoretinal Surgery

      The introduction of the intraocular vitrectomy instrument by Machemer et al. has led to remarkable advancements in vitreoretinal surgery enabling the limitations of human physiologic capabilities to be reached. To overcome the barriers of perception, tremor, and dexterity, robotic technologies have been investigated with current advancements nearing the feasibility for clinical use. There are four categories of robotic systems that have emerged through the research: (1) handheld instruments with intrinsic robotic assistance, (2) hand-on-hand robotic systems, (3) teleoperated robotic systems, and (4) magnetic guidance robots. This review covers the improvements and the remaining needs for safe, cost-effective clinical deployment of ...

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    3. Evaluation of microsurgical tasks with OCT-guided and/or robot-assisted ophthalmic forceps

      Evaluation of microsurgical tasks with OCT-guided and/or robot-assisted ophthalmic forceps

      Real-time intraocular optical coherence tomography (OCT) visualization of tissues with surgical feedback can enhance retinal surgery. An intraocular 23-gauge B-mode forward-imaging co-planar OCT-forceps, coupling connectors and algorithms were developed to form a unique ophthalmic surgical robotic system. Approach to the surface of a phantom or goat retina by a manual or robotic-controlled forceps, with and without real-time OCT guidance, was performed. Efficiency of lifting phantom membranes was examined. Placing the co-planar OCT imaging probe internal to the surgical tool reduced instrument shadowing and permitted constant tracking. Robotic assistance together with real-time OCT feedback improved depth perception accuracy. The first-generation integrated ...

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    1-3 of 3
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    1. (2 articles) Vanderbilt University
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    6. (1 articles) The Chinese University of Hong Kong
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    Evaluation of microsurgical tasks with OCT-guided and/or robot-assisted ophthalmic forceps A Review of Robotic and OCT-Aided Systems for Vitreoretinal Surgery Investigation of Micro-motion Kinematics of Continuum Robots for Volumetric OCT and OCT-guided Visual Servoing A novel algorithm for multiplicative speckle noise reduction in ex vivo human brain OCT images Volumetric characterization of microvasculature in ex vivo human brain samples by serial sectioning optical coherence tomography Depth of focus extension in optical coherence tomography using ultrahigh chromatic dispersion of zinc selenide Retinal changes in bipolar disorder as an endophenotype candidate: Comparison of OCT-detected retinal changes in patients, siblings, and healthy controls Intraoperative optical coherence tomography guided 25G micro-amount trajectory vitrectomy for the treatment of penetrating ocular injury caused by a foreign body in the right eye: A case study Optical coherence tomography angiography reveals paradoxically decreasing choroidal thickness & increasing blood flow in remitting Vogt Koyanagi Harada syndrome A comparison of macular ganglion cell and retinal nerve fibre layer optical coherence tomographic parameters as predictors of visual outcomes of surgery for pituitary tumours Fundus Changes Evaluated by OCTA in Patients With Cerebral Small Vessel Disease and Their Correlations: A Cross-Sectional Study Optical Coherence Tomography Combined with Fluorescein Fundus Angiography under Intelligent Algorithm to Evaluate the Clinical Efficacy of Ranibizumab Combined with Panretinal Photocoagulation in the Treatment of Macular Edema of Diabetic Retinopathy Pati