arXiv subjects

Yasamin Foroutani

Publications and source records attributed to Yasamin Foroutani.

4 recordsLinked to original sources

arXiv2025

High-Precision Surgical Robotic System for Intraocular Procedures

Despite the extensive demonstration of robotic systems for both cataract and vitreoretinal procedures, existing technologies or mechanisms still possess insufficient accuracy, precision, and degrees of freedom for instrument manipulation or potentially automated tool exchange during surgical procedures. A new robotic system that focuses on improving tooltip accuracy, tracking performance, and smooth instrument exchange mechanism is therefore designed and manufactured. Its tooltip accuracy, precision, and mechanical capability of maintaining small incision through remote center of motion were externally evaluated using an optical coherence tomography (OCT) system. Through robot calibration and precise coordinate registration, the accuracy of tooltip positioning was measured to be 0.053$\pm$0.031 mm, and the overall performance was demonstrated on an OCT-guided automated cataract lens extraction procedure with deep learning-based pre-operative anatomical modeling and real-time supervision.

cs.RO↗

arXiv2025

Improving Needle Penetration via Precise Rotational Insertion Using Iterative Learning Control

Achieving precise control of robotic tool paths is often challenged by inherent system misalignments, unmodeled dynamics, and actuation inaccuracies. This work introduces an Iterative Learning Control (ILC) strategy to enable precise rotational insertion of a tool during robotic surgery, improving penetration efficacy and safety compared to straight insertion tested in subretinal injection. A 4 degree of freedom (DOF) robot manipulator is used, where misalignment of the fourth joint complicates the simple application of needle rotation, motivating an ILC approach that iteratively adjusts joint commands based on positional feedback. The process begins with calibrating the forward kinematics for the chosen surgical tool to achieve higher accuracy, followed by successive ILC iterations guided by Optical Coherence Tomography (OCT) volume scans to measure the error and refine control inputs. Experimental results, tested on subretinal injection tasks on ex vivo pig eyes, show that the optimized trajectory resulted in higher success rates in tissue penetration and subretinal injection compared to straight insertion, demonstrating the effectiveness of ILC in overcoming misalignment challenges. This approach offers potential applications for other high precision robot tasks requiring controlled insertions as well.

cs.RO↗

arXiv2025

Control Modes of Teleoperated Surgical Robotic System's Tools in Ophthalmic Surgery

The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Inside Control Mode, which emulates tool manipulation near the distal end as if the surgeon was holding the tip of the instrument inside the patient's body; (2) Outside Control Mode, which emulates manipulation near the proximal end as if the surgeon was holding the tool externally. The aim of this research is to compare the surgeon's performance on these two modes of operation along with various scaling factors in a simulated vitreoretinal surgical setting. The console of Intraocular Robotic Interventional Surgical System (IRISS) was utilized but the surgical robot itself and the human eye anatomy was simulated by a virtual environment projected microscope view of an intraocular setup to a VR headset. Five experienced vitreoretinal surgeons and five subjects with no surgical experience used the system to perform four fundamental tool/tissue tasks common to vitreoretinal surgery: touch and reset; grasp and drop; inject; circular tracking. Results indicate that Inside Control outperforms Outside Control across multiple tasks and metrics. Higher scaling factors generally performed better, particularly for reducing trajectory errors and tissue damage. This improvement suggests that larger scaling factors enable more precise control, making them the preferred option for fine manipulation. However, completion time was not consistently reduced across all conditions, indicating that surgeons need to balance speed and accuracy based on surgical requirements. By optimizing control dynamics and user interface, robotic teleoperation has the potential to reduce complications, enhance dexterity, and expand the accessibility of high precision procedures to a broader range of practitioners.

cs.RO↗

arXiv2025

Safe Robotic Capsule Cleaning with Integrated Transpupillary and Intraocular Optical Coherence Tomography

Secondary cataract is one of the most common complications of vision loss due to the proliferation of residual lens materials that naturally grow on the lens capsule after cataract surgery. A potential treatment is capsule cleaning, a surgical procedure that requires enhanced visualization of the entire capsule and tool manipulation on the thin membrane. This article presents a robotic system capable of performing the capsule cleaning procedure by integrating a standard transpupillary and an intraocular optical coherence tomography probe on a surgical instrument for equatorial capsule visualization and real-time tool-to-tissue distance feedback. Using robot precision, the developed system enables complete capsule mapping in the pupillary and equatorial regions with in-situ calibration of refractive index and fiber offset, which are still current challenges in obtaining an accurate capsule model. To demonstrate effectiveness, the capsule mapping strategy was validated through five experimental trials on an eye phantom that showed reduced root-mean-square errors in the constructed capsule model, while the cleaning strategy was performed in three ex-vivo pig eyes without tissue damage.

cs.RO↗