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Surgeries performed on human eye require a high level of dexterity. Accuracy of widely used ophthalmic stereomicroscopes can be affected by limited depth perception and precision reduced by physiological tremor. Robotic arm-assisted manipulation of surgical tools improves precision, while intraoperative Optical Coherence Tomography (OCT) provides depth information and improves accuracy. Our hardware and software solutions enable tracking the tool tip to ensure the displayed OCT cross-scans, rather than 3-D volumes, are always locked to the tools’ tip position parsed from the robotic arm subsystem. Tool tracking errors for lateral movement and rotation are discussed for various velocities of the tool.
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Karol Karnowski, Krzysztof Gromada, Tomasz Piesio, Piotr Ciąćka, Adam Kurek, Andrea Curatolo, "Ophthalmic intraoperative OCT system with robotic arm-based tracking of surgical tools," Proc. SPIE PC12831, Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XXII, PC128310E (13 March 2024); https://doi.org/10.1117/12.3001882