迈向自主机器人视网膜下注射中的运动补偿
Towards Motion Compensation in Autonomous Robotic Subretinal Injections
AI总结：
本文针对机器人视网膜下注射中的生理运动干扰，提出基于B$^5$-扫描的实时光学相干断层扫描运动补偿方法，并通过离体猪眼实验揭示了现有方法在距离保持和注射精度方面的不足。
摘要：
渗出性（湿性）年龄相关性黄斑变性（AMD）是老年人视力丧失的主要原因之一，通常采用玻璃体内注射进行治疗。新兴疗法，如干细胞、基因治疗、小分子和RPE细胞的视网膜下注射，需要精确递送，以避免损伤脆弱的视网膜结构。机器人系统有可能为这些手术提供所需的精度。本文提出了一种用于机器人视网膜下注射运动补偿的新方法，利用实时光学相干断层扫描（OCT）。所提出的方法利用B$^5$-扫描，即快速采集小体积OCT数据，沿Z轴动态跟踪视网膜运动，补偿呼吸和心跳等生理运动。在离体猪眼上的验证实验揭示了在保持工具与视网膜之间一致距离方面存在的挑战，对于100 $μm$振幅的运动，一分钟内偏差高达200 $μm$；对于25 $μm$振幅的运动，偏差超过80 $μm$。视网膜下注射面临额外困难，相位偏移导致针头偏离目标并注射到玻璃体中。这些结果凸显了改进运动预测和水平稳定性的必要性，以提高机器人视网膜下手术的准确性和安全性。
英文摘要：
Exudative (wet) age-related macular degeneration (AMD) is a leading cause of vision loss in older adults, typically treated with intravitreal injections. Emerging therapies, such as subretinal injections of stem cells, gene therapy, small molecules and RPE cells require precise delivery to avoid damaging delicate retinal structures. Robotic systems can potentially offer the necessary precision for these procedures. This paper presents a novel approach for motion compensation in robotic subretinal injections, utilizing real time Optical Coherence Tomography (OCT). The proposed method leverages B$^5$-scans, a rapid acquisition of small-volume OCT data, for dynamic tracking of retinal motion along the Z-axis, compensating for physiological movements such as breathing and heartbeat. Validation experiments on ex vivo porcine eyes revealed challenges in maintaining a consistent tool-to-retina distance, with deviations of up to 200 $μm$ for 100 $μm$ amplitude motions and over 80 $μm$ for 25 $μm$ amplitude motions over one minute. Subretinal injections faced additional difficulties, with phase shifts causing the needle to move off-target and inject into the vitreous. These results highlight the need for improved motion prediction and horizontal stability to enhance the accuracy and safety of robotic subretinal procedures.
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