This paper presents techniques for robot-aided intraocular surgery using monocular vision in order to overcome erroneous stereo reconstruction in an intact eye. We propose a new retinal surface estimation method based on a structured-light approach. A handheld robot known as the Micron enables automatic scanning of a laser probe, creating projected beam patterns on the retinal surface. Geometric analysis of the patterns then allows planar reconstruction of the surface. To realize automated surgery in an intact eye, monocular hybrid visual servoing is accomplished through a scheme that incorporates surface reconstruction and partitioned visual servoing. We investigate the sensitivity of the estimation method according to relevant parameters and also evaluate its performance in both dry and wet conditions. The approach is validated through experiments for automated laser photocoagulation in a realistic eye phantom in vitro. Finally, we present the first demonstration of automated intraocular laser surgery in porcine eyes ex vivo.

中文翻译：

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使用单目视觉的机器人辅助眼内手术技术

本文介绍了使用单眼视觉进行机器人辅助眼内手术的技术，以克服完整眼中的错误立体重建。我们提出了一种基于结构光方法的新视网膜表面估计方法。一种称为 Micron 的手持式机器人可以自动扫描激光探头，在视网膜表面创建投射光束模式。图案的几何分析然后允许表面的平面重建。为了在完整眼中实现自动化手术，单眼混合视觉伺服是通过结合表面重建和分区视觉伺服的方案来实现的。我们根据相关参数调查估计方法的敏感性，并评估其在干燥和潮湿条件下的性能。该方法通过在体外真实眼体模型中的自动激光光凝实验得到验证。最后，我们首次展示了猪眼离体自动眼内激光手术。