Vision-Based Assistance for Ophthalmic Micro-Surgery

  • Maneesh Dewan
  • Panadda Marayong
  • Allison M. Okamura
  • Gregory D. Hager
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3217)


This paper details the development and preliminary testing of a system for 6-DOF human-machine cooperative motion using vision-based virtual fixtures for applications in retinal micro-surgery. The system makes use of a calibrated stereo imaging system to track surfaces in the environment, and simultaneously tracks a tool held by the JHU Steady-Hand Robot. As the robot is guided using force inputs from the user, a relative error between the estimated surface and the tool position is established. This error is used to generate an anisotropic stiffness matrix that in turn guides the user along the surface in both position and orientation. Preliminary results show the effectiveness of the system in guiding a user along the surface and performing different sub-tasks such as tool alignment and targeting within the resolution of the visual system.The accuracy of surface reconstruction and tool tracking obtained from stereo imaging was validated through comparison with measurements made by an infrared optical position tracking system.


Prefer Direction Surface Reconstruction Retinal Vein Occlusion Central Retinal Vein Occlusion Branch Retinal Vein Occlusion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Maneesh Dewan
    • 1
  • Panadda Marayong
    • 2
  • Allison M. Okamura
    • 2
  • Gregory D. Hager
    • 1
  1. 1.Department of Computer ScienceJohns Hopkins UniversityBaltimore
  2. 2.Department of Mechanical EngineeringJohns Hopkins UniversityBaltimore

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