English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Retinal surgery is a complex medical procedure that requires exceptionalexpertise and dexterity. For this purpose, several robotic platforms arecurrently being developed to enable or improve the outcome of microsurgicaltasks. Since the control of such robots is often designed for navigation insidethe eye in proximity to the retina, successful trocar docking and inserting theinstrument into the eye represents an additional cognitive effort, and is,therefore, one of the open challenges in robotic retinal surgery. For thispurpose, we present a platform for autonomous trocar docking that combinescomputer vision and a robotic setup. Inspired by the Cuban Colibri(hummingbird) aligning its beak to a flower using only vision, we mount acamera onto the endeffector of a robotic system. By estimating the position andpose of the trocar, the robot is able to autonomously align and navigate theinstrument towards the Trocar's Entry Point (TEP) and finally perform theinsertion. Our experiments show that the proposed method is able to accuratelyestimate the position and pose of the trocar and achieve repeatable autonomousdocking. The aim of this work is to reduce the complexity of robotic setuppreparation prior to the surgical task and therefore, increase theintuitiveness of the system integration into the clinical workflow.

ColibriDoc: An Eye-in-Hand Autonomous Trocar Docking System