1. Articles from Gao Tang

    1-2 of 2
    1. Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning

      Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning

      Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents a robotic suturing system that uses 3D optical coherence tomography (OCT) system for imaging feedback. Calibration of the robot-OCT and robot-needle transforms, wound detection, keypoint identification, and path planning are all performed automatically. The calibration method handles pose uncertainty when the needle is grasped using a variant of iterative closest points. The path planner uses the identified wound shape to calculate ...

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      Mentions: Duke University
    2. Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty

      Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty

      Objective: Deep anterior lamellar keratoplasty (DALK) significantly reduces the post-transplantation morbidity in patients eligible for partial-thickness cornea grafts. The popular "big bubble" technique for DALK is so challenging, however, that a significant fraction of corneal pneumodissection attempts fail for surgeons without extensive DALK-specific experience, even with previous-generation cross-sectional optical coherence tomography (OCT) guidance. We seek to develop robotic, volumetric OCT-guided technology capable of facilitating or automating the difficult needle insertion step in DALK. Methods: Our system provides for real-time volumetric corneal imaging, segmentation, and tracking of the needle insertion to display feedback for surgeons and to generate needle insertion plans ...

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      Mentions: Duke University
    1-2 of 2
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  2. Topics in the News

    1. (2 articles) Duke University
    2. (1 articles) National Institutes of Health
    3. (1 articles) Tokyo Medical & Dental University
    4. (1 articles) Carl Zeiss Meditec
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