Accurate real-time depth control for CP-SSOCT distal sensor based handheld microsurgery tools
Identifieur interne : 000762 ( Pmc/Checkpoint ); précédent : 000761; suivant : 000763Accurate real-time depth control for CP-SSOCT distal sensor based handheld microsurgery tools
Auteurs : Gyeong Woo Cheon [États-Unis] ; Yong Huang [États-Unis] ; Jaepyeng Cha [États-Unis] ; Peter L. Gehlbach [États-Unis] ; Jin U. Kang [États-Unis]Source :
- Biomedical Optics Express [ 2156-7085 ] ; 2015.
Abstract
This paper presents a novel intuitive targeting and tracking scheme that utilizes a common-path swept source optical coherence tomography (CP-SSOCT) distal sensor integrated handheld microsurgical tool. To achieve micron-order precision control, a reliable and accurate OCT distal sensing method is required; simultaneously, a prediction algorithm is necessary to compensate for the system delay associated with the computational, mechanical and electronic latencies. Due to the multi-layered structure of retina, it is necessary to develop effective surface detection methods rather than simple peak detection. To achieve this, a shifted cross-correlation method is applied for surface detection in order to increase robustness and accuracy in distal sensing. A predictor based on Kalman filter was implemented for more precise motion compensation. The performance was first evaluated using an established dry phantom consisting of stacked cellophane tape. This was followed by evaluation in an
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DOI: 10.1364/BOE.6.001942
PubMed: 26137393
PubMed Central: 4467719
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Charles Street, Baltimore, MD, 21218,<country country="US">USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Cha, Jaepyeng" sort="Cha, Jaepyeng" uniqKey="Cha J" first="Jaepyeng" last="Cha">Jaepyeng Cha</name><affiliation wicri:level="1"><nlm:aff id="aff1">Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD, 21218,<country country="US">USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Gehlbach, Peter L" sort="Gehlbach, Peter L" uniqKey="Gehlbach P" first="Peter L." last="Gehlbach">Peter L. Gehlbach</name><affiliation wicri:level="1"><nlm:aff id="aff1">Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD, 21218,<country country="US">USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="aff2">Wilmer Eye Institute, Johns Hopkins School of Medicine, 600 N. Wolfe Street, Baltimore, MD, 21287,<country country="US">USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Kang, Jin U" sort="Kang, Jin U" uniqKey="Kang J" first="Jin U." last="Kang">Jin U. Kang</name><affiliation wicri:level="1"><nlm:aff id="aff1">Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD, 21218,<country country="US">USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">26137393</idno><idno type="pmc">4467719</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4467719</idno><idno type="RBID">PMC:4467719</idno><idno type="doi">10.1364/BOE.6.001942</idno><date when="2015">2015</date><idno type="wicri:Area/Pmc/Corpus">000091</idno><idno type="wicri:Area/Pmc/Curation">000091</idno><idno type="wicri:Area/Pmc/Checkpoint">000762</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Accurate real-time depth control for CP-SSOCT distal sensor based handheld microsurgery tools</title><author><name sortKey="Cheon, Gyeong Woo" sort="Cheon, Gyeong Woo" uniqKey="Cheon G" first="Gyeong Woo" last="Cheon">Gyeong Woo Cheon</name><affiliation wicri:level="1"><nlm:aff id="aff1">Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD, 21218,<country country="US">USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Huang, Yong" sort="Huang, Yong" uniqKey="Huang Y" first="Yong" last="Huang">Yong Huang</name><affiliation wicri:level="1"><nlm:aff id="aff1">Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD, 21218,<country country="US">USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Cha, Jaepyeng" sort="Cha, Jaepyeng" uniqKey="Cha J" first="Jaepyeng" last="Cha">Jaepyeng Cha</name><affiliation wicri:level="1"><nlm:aff id="aff1">Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD, 21218,<country country="US">USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Gehlbach, Peter L" sort="Gehlbach, Peter L" uniqKey="Gehlbach P" first="Peter L." last="Gehlbach">Peter L. Gehlbach</name><affiliation wicri:level="1"><nlm:aff id="aff1">Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD, 21218,<country country="US">USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation><affiliation wicri:level="1"><nlm:aff id="aff2">Wilmer Eye Institute, Johns Hopkins School of Medicine, 600 N. Wolfe Street, Baltimore, MD, 21287,<country country="US">USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author><author><name sortKey="Kang, Jin U" sort="Kang, Jin U" uniqKey="Kang J" first="Jin U." last="Kang">Jin U. Kang</name><affiliation wicri:level="1"><nlm:aff id="aff1">Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD, 21218,<country country="US">USA</country></nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea># see nlm:aff country strict</wicri:regionArea></affiliation></author></analytic><series><title level="j">Biomedical Optics Express</title><idno type="eISSN">2156-7085</idno><imprint><date when="2015">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>This paper presents a novel intuitive targeting and tracking scheme that utilizes a common-path swept source optical coherence tomography (CP-SSOCT) distal sensor integrated handheld microsurgical tool. To achieve micron-order precision control, a reliable and accurate OCT distal sensing method is required; simultaneously, a prediction algorithm is necessary to compensate for the system delay associated with the computational, mechanical and electronic latencies. Due to the multi-layered structure of retina, it is necessary to develop effective surface detection methods rather than simple peak detection. To achieve this, a shifted cross-correlation method is applied for surface detection in order to increase robustness and accuracy in distal sensing. A predictor based on Kalman filter was implemented for more precise motion compensation. The performance was first evaluated using an established dry phantom consisting of stacked cellophane tape. This was followed by evaluation in an <italic>ex-vivo</italic> bovine retina model to assess system accuracy and precision. The results demonstrate highly accurate depth targeting with less than 5 μm RMSE depth locking.</p></div></front></TEI><pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
<front><journal-meta><journal-id journal-id-type="nlm-ta">Biomed Opt Express</journal-id><journal-id journal-id-type="iso-abbrev">Biomed Opt Express</journal-id><journal-id journal-id-type="publisher-id">BOE</journal-id><journal-title-group><journal-title>Biomedical Optics Express</journal-title></journal-title-group><issn pub-type="epub">2156-7085</issn><publisher><publisher-name>Optical Society of America</publisher-name></publisher></journal-meta><article-meta><article-id pub-id-type="pmid">26137393</article-id><article-id pub-id-type="pmc">4467719</article-id><article-id pub-id-type="publisher-id">1942</article-id><article-id pub-id-type="doi">10.1364/BOE.6.001942</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>Accurate real-time depth control for CP-SSOCT distal sensor based handheld microsurgery tools</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Cheon</surname><given-names>Gyeong Woo</given-names></name><xref ref-type="aff" rid="aff1"><sup>1</sup></xref><xref ref-type="corresp" rid="cor1"><sup>*</sup></xref></contrib><contrib contrib-type="author"><name><surname>Huang</surname><given-names>Yong</given-names></name><xref ref-type="aff" rid="aff1"><sup>1</sup></xref></contrib><contrib contrib-type="author"><name><surname>Cha</surname><given-names>Jaepyeng</given-names></name><xref ref-type="aff" rid="aff1"><sup>1</sup></xref></contrib><contrib contrib-type="author"><name><surname>Gehlbach</surname><given-names>Peter L.</given-names></name><xref ref-type="aff" rid="aff1"><sup>1</sup></xref><xref ref-type="aff" rid="aff2"><sup>2</sup></xref></contrib><contrib contrib-type="author"><name><surname>Kang</surname><given-names>Jin U.</given-names></name><xref ref-type="aff" rid="aff1"><sup>1</sup></xref></contrib><aff id="aff1"><label>1</label>Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD, 21218,<country country="US">USA</country></aff><aff id="aff2"><label>2</label>Wilmer Eye Institute, Johns Hopkins School of Medicine, 600 N. Wolfe Street, Baltimore, MD, 21287,<country country="US">USA</country></aff></contrib-group><author-notes><corresp id="cor1"><label>*</label><email xlink:href="gwcheon@jhu.edu">gwcheon@jhu.edu</email></corresp></author-notes><pub-date pub-type="epub"><day>30</day><month>4</month><year>2015</year></pub-date><pub-date pub-type="collection"><day>01</day><month>5</month><year>2015</year></pub-date><pub-date pub-type="pmc-release"><day>30</day><month>4</month><year>2015</year></pub-date><pmc-comment> PMC Release delay is 0 months and 0 days and was based on the
<volume>6</volume><issue>5</issue><fpage>1942</fpage><lpage>1953</lpage><history><date date-type="received"><day>20</day><month>3</month><year>2015</year></date><date date-type="rev-recd"><day>21</day><month>4</month><year>2015</year></date><date date-type="accepted"><day>23</day><month>4</month><year>2015</year></date></history><permissions><copyright-statement>© 2015 Optical Society of America</copyright-statement><copyright-year>2015</copyright-year><copyright-holder>Optical Society of America</copyright-holder></permissions><abstract><p>This paper presents a novel intuitive targeting and tracking scheme that utilizes a common-path swept source optical coherence tomography (CP-SSOCT) distal sensor integrated handheld microsurgical tool. To achieve micron-order precision control, a reliable and accurate OCT distal sensing method is required; simultaneously, a prediction algorithm is necessary to compensate for the system delay associated with the computational, mechanical and electronic latencies. Due to the multi-layered structure of retina, it is necessary to develop effective surface detection methods rather than simple peak detection. To achieve this, a shifted cross-correlation method is applied for surface detection in order to increase robustness and accuracy in distal sensing. A predictor based on Kalman filter was implemented for more precise motion compensation. The performance was first evaluated using an established dry phantom consisting of stacked cellophane tape. This was followed by evaluation in an <italic>ex-vivo</italic> bovine retina model to assess system accuracy and precision. The results demonstrate highly accurate depth targeting with less than 5 μm RMSE depth locking.</p></abstract><kwd-group kwd-group-type="OCIS"><title>OCIS codes: </title><kwd>(060.2370) Fiber optics sensors</kwd><kwd>(170.4500) Optical coherence tomography</kwd><kwd>(150.5758) Robotic and machine control</kwd><kwd>(170.4460) Ophthalmic optics and devices</kwd></kwd-group><funding-group><award-group><funding-source id="sp1">U.S. National Institutes of Health</funding-source></award-group></funding-group><funding-group><award-group><funding-source id="sp2">National Eye Institute (NIH/NEI)</funding-source><award-id rid="sp2">R01EY021540-01</award-id></award-group></funding-group><funding-group><award-group><funding-source id="sp3">Research to Prevent Blindness</funding-source></award-group></funding-group><funding-group><award-group><funding-source id="sp4">The J. Willard and Alice S. Marriott Foundation</funding-source></award-group></funding-group><custom-meta-group><custom-meta><meta-name>OpenAccess</meta-name><meta-value>True</meta-value></custom-meta><custom-meta><meta-name>OpenAccessEmbargo</meta-name><meta-value>0</meta-value></custom-meta></custom-meta-group></article-meta></front></pmc><affiliations><list><country><li>États-Unis</li></country></list><tree><country name="États-Unis"><noRegion><name sortKey="Cheon, Gyeong Woo" sort="Cheon, Gyeong Woo" uniqKey="Cheon G" first="Gyeong Woo" last="Cheon">Gyeong Woo Cheon</name></noRegion><name sortKey="Cha, Jaepyeng" sort="Cha, Jaepyeng" uniqKey="Cha J" first="Jaepyeng" last="Cha">Jaepyeng Cha</name><name sortKey="Gehlbach, Peter L" sort="Gehlbach, Peter L" uniqKey="Gehlbach P" first="Peter L." last="Gehlbach">Peter L. Gehlbach</name><name sortKey="Gehlbach, Peter L" sort="Gehlbach, Peter L" uniqKey="Gehlbach P" first="Peter L." last="Gehlbach">Peter L. Gehlbach</name><name sortKey="Huang, Yong" sort="Huang, Yong" uniqKey="Huang Y" first="Yong" last="Huang">Yong Huang</name><name sortKey="Kang, Jin U" sort="Kang, Jin U" uniqKey="Kang J" first="Jin U." last="Kang">Jin U. Kang</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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