{"doi":"10.1109/lra.2021.3100937","title":"Spotlight-Based 3D Instrument Guidance for Autonomous Task in Robot-Assisted Retinal Surgery","abstract":"Retinal surgery is known to be a complicated and challenging task for an ophthalmologist even for retina specialists. Image guided robot-assisted intervention is among the novel and promising solutions that may enhance human capabilities during microsurgery. In this paper, a novel method is proposed for 3D navigation of a microsurgical instrument based on the projection of a spotlight during robot-assisted retinal surgery. To test the feasibility and effectiveness of the proposed method, a vessel tracking task in a phantom with a Remote Center of Motion (RCM) constraint is performed by the Steady-Hand Eye Robot (SHER). The results are compared to manual tracking, cooperative control tracking with the SHER and spotlight-based automatic tracking with SHER. The reported results are that the spotlight-based automatic tracking with SHER can reach an average tracking error of 0.013 mm and keeping distance error of 0.1 mm from the desired range demonstrating a significant improvement compared to manual or cooperative control methods alone.","journal":"IEEE Robotics and Automation Letters","year":2021,"id":171856,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":26,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9557,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2021-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":556448,"name":"Jiahao Wu","orcid":"0000-0002-1052-6060","position":1,"is_corresponding":false},{"id":478562,"name":"Ali Ebrahimi","orcid":"0000-0002-4821-0985","position":2,"is_corresponding":false},{"id":409758,"name":"Niravkumar Patel","orcid":"0000-0002-8113-6078","position":3,"is_corresponding":false},{"id":556451,"name":"Yunhui Liu","orcid":"0000-0002-3625-6679","position":4,"is_corresponding":false},{"id":35375,"name":"Nassir Navab","orcid":"0000-0002-6032-5611","position":5,"is_corresponding":false},{"id":478564,"name":"Peter Gehlbach","orcid":"0000-0002-9608-9171","position":6,"is_corresponding":false},{"id":556449,"name":"Alois Knoll","orcid":"0000-0003-4840-076X","position":7,"is_corresponding":false},{"id":556450,"name":"M. Ali Nasseri","orcid":"0000-0002-9764-5731","position":8,"is_corresponding":false},{"id":409760,"name":"Iulian Iordachita","orcid":"0000-0002-2510-9008","position":9,"is_corresponding":false},{"id":556447,"name":"Mingchuan Zhou","orcid":"0000-0002-6944-1483","position":0,"is_corresponding":true}],"reference_count":38,"raw_metadata":null,"created_at":"2026-07-18T23:46:33.067299Z","pmid":"35309100","pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}