A Magnetically Steered Endolaser Probe for Automated Panretinal Photocoagulation

作     者：Charreyron, Samuel L. Gabbi, Edoardo Boehler, Quentin Becker, Matthias Nelson, Bradley J. 

作者机构：Multi Scale Robotics Lab ETH Zurich Zurich8092 Switzerland Stadtspital Triemli Zurich8003 Switzerland 

出 版 物：《IEEE Robotics and Automation Letters》 (IEEE Robot. Autom.)

年 卷 期：2019年第4卷第2期

页      面：284-290页

核心收录：

学科分类：0831[工学-生物医学工程（可授工学、理学、医学学位）] 1007[医学-药学(可授医学、理学学位)] 100706[医学-药理学] 1002[医学-临床医学] 0808[工学-电气工程] 1001[医学-基础医学(可授医学、理学学位)] 08[工学] 0837[工学-安全科学与工程] 0811[工学-控制科学与工程] 0702[理学-物理学] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Manuscript received September 10, 2018 accepted December 15, 2018. Date of publication December 20, 2018 date of current version January 4, 2019. This letter was recommended for publication by Associate Editor Prof. S. Russo and Editor P. Valdastri upon evaluation of the and reviewers’ comments. This work was supported in part by the Swiss National Science Foundation under Grant 200021_165564 and in part by the ERC Advanced Grant 743217, Soft Micro Robotics (SOMBOT). (Corresponding author: Samuel L. Charreyron.) S. L. Charreyron, Q. Boehler, and B. J. Nelson are with the Multi Scale Robotics Lab, ETH Zurich, Zurich 8092, Switzerland (e-mail:, samuelch@ ethz.ch qboehler@ethz.ch bnelson@ethz.ch).This work was supported in part by the Swiss National Science Foundation under Grant 200021_165564 and in part by the ERC Advanced Grant 743217, Soft Micro Robotics (SOMBOT) 

主　　题：Kinematics 

摘      要：The advanced state of diabetic retinopathy, a leading cause of blindness, is treated by panretinal photocoagulation (PRP), a repetitive procedure performed by a surgeon using a handheld laser probe. In its place we propose a soft-robotic flexible probe precisely steered using magnetic fields generated by an external magnetic steering system. We develop a kinematic model for the PRP task and show that the process can be automated given image feedback of the retina through a fundus camera. We demonstrate the concept in an eye phantom of a human eye, achieving clinical-level accuracy and faster speeds than human surgeons. © 2016 IEEE.