Jeremy Birch

King's College London | KCL · Department of Biomedical Engineering

Purpose: Robot-assisted vitreoretinal surgery provides precise and consistent operations on the back of the eye. To perform this safely, knowledge of the surgical instrument's remote centre of motion (RCM) and the location of the insertion point into the eye (trocar) is required. This enables the robot to align both positions to pivot the instrume...

During robotic vitreoretinal surgery, it is necessary for surgical instruments to be pivoted about trocars while also dealing with eye movement, which will in turn move the said trocar. To ensure that no damaging forces are exerted on the eye, the instrument's Remote Centre of Motion (RCM) has to be estimated and the trocar tracked. This short pape...

Surgical scene segmentation is essential for anatomy and instrument localization which can be further used to assess tissue-instrument interactions during a surgical procedure. In 2017, the Challenge on Automatic Tool Annotation for cataRACT Surgery (CATARACTS) released 50 cataract surgery videos accompanied by instrument usage annotations. These a...

Minimally-invasive robot-assisted surgery often uses instruments that are pivoted about a trocar. For precise and safe control, the instrument’s remote centre of motion (RCM) is required to match the trocar insertion point. In cases where there are free-moving body parts, such as the eye in vitreoretinal surgery, RCM and trocar locations can deviat...