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1.
J Ophthalmic Inflamm Infect ; 13(1): 35, 2023 Aug 17.
Article in English | MEDLINE | ID: mdl-37589912

ABSTRACT

PURPOSE: Posterior uveitis is a common chorioretinal pathology affecting all ages worldwide and is a frequent reason for referral to the retina clinic. The spectrum of etiologies for uveitis is very broad and includes infectious and auto-immune diseases. Inflammation can be confined to the eye or may be a part of systemic disease. A useful outline is therefore proposed to aid in the correct diagnosis of these challenging entities. The situation is further complicated by the fact that many neoplastic conditions resemble features of posterior uveitis; they are known as "masqueraders of uveitis". Here, we summarize different posterior uveitides that present with rare findings, along with masqueraders that can be difficult to distinguish. These conditions pose a diagnostic dilemma resulting in delay in treatment because of diagnostic uncertainty. METHODS: An extensive literature search was performed on the MEDLINE/PUBMED, EBSCO and Cochrane CENTRAL databases from January 1985 to January 2022 for original studies and reviews of predetermined diagnoses that include posterior uveitic entities, panuveitis and masquerade syndromes. RESULTS: We described conditions that can present as mimickers of posterior uveitis (i.e., immune check-points inhibitors and Vogt-Koyanagi-Harada-like uveitis; leukemia and lymphoma associated posterior uveitis), inflammatory conditions that present as mimickers of retinal diseases (i.e., Purtscher-like retinopathy as a presentation of systemic lupus erythematosus; central serous chorioretinopathy masquerading inflammatory exudative retinal detachment), and uveitic conditions with rare and diagnostically challenging etiologies (i.e., paradoxical inflammatory effects of anti-TNF-α; post vaccination uveitis; ocular inflammation after intravitreal injection of antiangiogenic drugs). CONCLUSION: This review of unique posterior uveitis cases highlights the overlapping features of posterior uveitis (paradoxical inflammatory effects of anti -TNF α and uveitis; Purtscher-like retinopathy as a presentation of systemic lupus erythematosus, …) and the nature of retinal conditions (ischemic ocular syndrome, or central retinal vein occlusion, amyloidosis, inherited conditions like retinitis pigmentosa, autosomal dominant neovascular inflammatory vitreoretinopathy (ADNIV), etc.…) that may mimic them is represented. Careful review of past uveitis history, current medications and recent vaccinations, detailed examination of signs of past or present inflammation, eventually genetic testing and/ or multimodal retinal imaging (like fluorescein angiography, EDI-OCT, OCT-angiography for lupus Purtscher-like retinopathy evaluation, or ICG for central serous retinopathy, or retinal amyloid angiopathy) may aid in correct diagnosis.

2.
Can J Ophthalmol ; 2023 Jun 13.
Article in English | MEDLINE | ID: mdl-37321555

ABSTRACT

OBJECTIVE: To identify characteristics and visual outcomes of coagulase-negative staphylococcal (CoNS) endophthalmitis in the era after the Endophthalmitis Vitrectomy Study. DESIGN: Single-centre retrospective analysis. PARTICIPANTS: Forty-two samples from 40 patients with documented CoNS endophthalmitis. METHODS: Visual acuity outcomes of CoNS endophthalmitis were assessed in relation to species and type of treatment instituted (i.e., pars plana vitrectomy [PPV] versus vitreous tap and injection of intravitreal antibiotics [T&I]) on 42 samples from 40 patients. RESULTS: Staphylococcus epidermidis was the most prevalent CoNS in our study. Cataract surgery and intravitreal injections were the most common sources for acute CoNS endophthalmitis. Eyes presenting with hand motion or better vision had similar mean final vision after either intravitreal antibiotics or PPV, whereas those with light perception or worse vision at onset had better outcomes after PPV only. Subanalysis showed that patients with S. epidermidis endophthalmitis (n = 39 eyes) had similar visual outcomes with either intravitreal injections or PPV regardless of visual acuity. Hypopyon and vitritis are not always present. CONCLUSIONS: Patients with S. epidermidis endophthalmitis may benefit similarly from either early vitrectomy or intravitreal antibiotic injections regardless of visual acuity. This finding may be a supplement to the complements the management standards set forth by the Endophthalmitis Vitrectomy Study.

3.
Retin Cases Brief Rep ; 16(3): 314-317, 2022 May 01.
Article in English | MEDLINE | ID: mdl-31958106

ABSTRACT

PURPOSE: To characterize evolution of macular injury from a high-powered blue handheld laser using multimodal imaging and describe successful surgical treatment. METHODS: Observational clinical case report. RESULTS: A 17-year-old boy presented with unilateral acute loss of vision with discrete white macular lesions, full-thickness disruption of retinal layers, and hyperreflective material at the fovea on optical coherence tomography caused by exposure to a 445 nm blue-light handheld laser with power up to 2,000 mW characterized as a Class IV laser. The injury evolved into an approximately 950-µm full-thickness macular hole 3 weeks later with visual acuity of 20/400. Vitrectomy and internal limiting membrane peel resulted in anatomic success and final vision at 4 months of 20/25. CONCLUSION: High-powered lasers can induce significant disruption of retinal layers, inflammatory debris, and full-thickness macular holes with momentary exposure that, despite poor anatomic prognostic factors, can have successful surgical outcomes.


Subject(s)
Macular Degeneration , Retinal Diseases , Retinal Perforations , Adolescent , Humans , Lasers , Male , Multimodal Imaging , Retinal Diseases/complications , Retinal Diseases/etiology , Retinal Perforations/diagnosis , Retinal Perforations/etiology , Retinal Perforations/surgery , Tomography, Optical Coherence , Vitrectomy/adverse effects
4.
Ocul Immunol Inflamm ; 30(2): 364-378, 2022 Feb 17.
Article in English | MEDLINE | ID: mdl-33617412

ABSTRACT

PURPOSE: To describe the application of OCT-A in various posterior uveitis disorders in our experience and to compare it with the available literature. METHODS: Eighteen eyes with the diagnoses of multifocal choroiditis (MFC), multifocal placoid pigment epitheliopathy (APMPPE), multiple evanescent white dot syndrome (MEWDS), tuberculous serpiginous-like choroiditis (SLC), serpiginous choroiditis (SC), and birdshot chorioretinopathy (BSCR) were studied. RESULTS: We found flow void of the choriocapillaris in patients with APMPPE, SC, MFC, BSCR, and in SLC. In contrast, perfusion of the choriocapillaris seemed normal in patients with MEWDS. CONCLUSIONS: We confirmed that OCT-A contributes new information on the physiopathology of white dot syndromes and inflammatory chorioretinopathies, notably on whether or not the choriocapillaris is involved. Comparing the OCT-A features allowed us to suggest that both APMPPE and SLC might be part of the same spectrum of inflammatory disease with primary involvement at the level of the choriocapillaris and secondary RPE damage.


Subject(s)
Choroiditis , White Dot Syndromes , Birdshot Chorioretinopathy , Choroid , Choroiditis/diagnosis , Fluorescein Angiography , Humans , Multifocal Choroiditis , Tomography, Optical Coherence
5.
Transl Vis Sci Technol ; 10(14): 19, 2021 12 01.
Article in English | MEDLINE | ID: mdl-34928325

ABSTRACT

Purpose: Drusen are dynamic sub-RPE deposits that are risk factors for late-stage age-related macular degeneration (AMD). Here we show a new imaging method using flood-illumination adaptive optics (FIAO) that reveal drusen with high contrast and resolution. Methods: A fovea-centered 4° × 4° FIAO image and eight surrounding images with gaze displaced by ±2° vertically and horizontally were acquired. Clinical color fundus and spectral-domain optical coherence tomography were acquired for clinical grading and comparison. Custom software registered overlapping FIAO images and fused the data statistically to generate a fovea-centered 4° × 4° gaze-dependent image. Our dataset included 15 controls (aged 31-72) and 182 eyes from 104 AMD patients (aged 56-92), graded as either normal aging (n = 7), and early (n = 12), intermediate (n = 108) and late AMD (n = 42); 27 had subretinal drusenoid deposits (SDDs), and 83 were imaged longitudinally. Results: No gaze varying structures were detected in young eyes. In aging eyes with no evidence of age-related changes, putative drusen <20 µm in diameter were visible. Gaze-dependent images revealed more drusen and many smaller drusen than visible in color fundus images. Longitudinal images showed expansion and fusion of drusen. SDDs were lower contrast, and RPE atrophy did not yield a consistent signal. Conclusions: Gaze-dependent imaging in a commercially available FIAO fundus camera combined with image registration and postprocessing permits visualization of drusen and their progression with high contrast and resolution. Translational Relevance: This new technique offers promise as a robust and sensitive method to detect, map, quantify, and monitor the dynamics of drusen in aging and AMD.


Subject(s)
Lighting , Retinal Drusen , Floods , Fluorescein Angiography , Humans , Ophthalmoscopy , Retinal Drusen/diagnostic imaging
6.
Front Med (Lausanne) ; 8: 769308, 2021.
Article in English | MEDLINE | ID: mdl-34957148

ABSTRACT

Torpedo maculopathy (TM) is a rare congenital defect of the retinal pigment epithelium (RPE). The RPE is often evaluated clinically using fundus autofluorescence (AF), a technique that visualizes RPE structure at the tissue level from the intrinsic AF of RPE fluorophores. TM lesions typically emit little or no AF, but this macroscopic assessment is unable to resolve the RPE cells, leaving the organization of the RPE cell mosaic in TM unknown. We used fluorescence adaptive optics scanning laser ophthalmoscopy (AOSLO) to show here for the first time the microscopic cellular-level structural alterations to the RPE cell mosaic in TM that underlie the tissue-level changes seen in conventional clinical imaging. We evaluated two patients with TM using conventional clinical imaging techniques and adaptive optics (AO) infrared autofluorescence (IRAF) in AOSLO. Confocal AOSLO revealed relatively normal cones outside the TM lesion but altered cone appearance within it and along its margins in both patients. We quantified cone topography and RPE cell morphometry from the fovea to the margin of the lesion in case 1 and found cone density to be within the normal range across the locations imaged. However, RPE morphometric analysis revealed disrupted RPE cells outside the margin of the lesion; the mean RPE cell area was greater than two standard deviations above the normative range up to approximately 1.5 mm from the lesion margin. Similar morphometric changes were seen to individual RPE cells in case 2. Multi-modal imaging with AOSLO reveals that RPE cells are abnormal in TM well beyond the margins of the characteristic TM lesion boundary defined with conventional clinical imaging. Since the TM fovea appears to be fully formed, with normal cone packing, it is possible that the congenital RPE defect in TM occurs relatively late in retinal development. This work demonstrates how cellular level imaging of the RPE can provide new insight into RPE pathologies, particularly for rare conditions such as TM.

7.
J Med Device ; 15(3): 031014, 2021 Sep 01.
Article in English | MEDLINE | ID: mdl-34557261

ABSTRACT

Retinal membrane peeling requires delicate manipulation. The presence of the surgeon's physiological tremor, the high variability and often low quality of the ophthalmic image, and excessive forces make the tasks more challenging. Preventing unintended movement caused by tremor and unintentional forces can reduce membrane injury. With the use of an actively stabilized handheld robot, we employ a monocular camera-based surface reconstruction method to estimate the retinal plane and we propose the use of a virtual fixture with the application of a hard stop and motion scaling to improve control of the tool tip during delaminating in a laboratory simulation of retinal membrane peeling. A hard stop helps to limit downward force exerted on the surface. Motion scaling also improves the user's control of contact force when delaminating. We demonstrate a reduction of maximum force and maximum surface-penetration distance from the estimated retinal plane using the proposed technique.

8.
Nat Med ; 27(7): 1223-1229, 2021 07.
Article in English | MEDLINE | ID: mdl-34031601

ABSTRACT

Optogenetics may enable mutation-independent, circuit-specific restoration of neuronal function in neurological diseases. Retinitis pigmentosa is a neurodegenerative eye disease where loss of photoreceptors can lead to complete blindness. In a blind patient, we combined intraocular injection of an adeno-associated viral vector encoding ChrimsonR with light stimulation via engineered goggles. The goggles detect local changes in light intensity and project corresponding light pulses onto the retina in real time to activate optogenetically transduced retinal ganglion cells. The patient perceived, located, counted and touched different objects using the vector-treated eye alone while wearing the goggles. During visual perception, multichannel electroencephalographic recordings revealed object-related activity above the visual cortex. The patient could not visually detect any objects before injection with or without the goggles or after injection without the goggles. This is the first reported case of partial functional recovery in a neurodegenerative disease after optogenetic therapy.


Subject(s)
Blindness/physiopathology , Blindness/therapy , Genetic Therapy/methods , Optogenetics/methods , Retinitis Pigmentosa/pathology , Brain Waves/physiology , Dependovirus/genetics , Eye Protective Devices , Genetic Vectors/genetics , Humans , Male , Middle Aged , Photoreceptor Cells/physiology , Retinal Ganglion Cells/cytology , Retinal Ganglion Cells/physiology , Vision, Ocular/physiology , Visual Cortex/physiology , Visual Perception/physiology
9.
PLoS One ; 15(4): e0230713, 2020.
Article in English | MEDLINE | ID: mdl-32267845

ABSTRACT

PURPOSE: To evaluate the surgical technique for subretinal implantation of two sizes of PRIMA photovoltaic wireless microchip in two animal models, and refine these surgical procedures for human trials. METHODS: Cats and Macaca fascicularis primates with healthy retina underwent vitrectomy surgery and were implanted with subretinal wireless photovoltaic microchip at the macula/central retina. The 1.5mm PRIMA chip was initially studied in feline eyes. PRIMA implant (2mm,1.5mm sizes) arrays were studied in primates. Feasibility of subretinal chip implantation was evaluated with a newly-developed surgical technique, with surgical complications and adverse events recorded. RESULTS: The 1.5mm implant was placed in the central retina of 11 feline eyes, with implantation duration 43-106 days. The 1.5mm implant was correctly positioned into central macula of 11 primate eyes, with follow-up periods of minimum 6 weeks (n = 11), 2 years (n = 2), and one eye for 3 years. One primate eye underwent multi-chip 1.5mm implantation using two 1.5mm chips. The 2mm implant was delivered to 4 primate eyes. Optical coherence tomography confirmed correct surgical placement of photovoltaic arrays in the subretinal space in all 26 eyes. Intraoperative complications in primate eyes included retinal tear, macular hole, retinal detachment, and vitreous hemorrhage that resolved spontaneously. Postoperatively, there was no case of significant ocular inflammation in the 1.5mm implant group. CONCLUSIONS: We report subretinal implantation of 1.5mm and 2mm photovoltaic arrays in the central retina of feline and central macula of primate eyes with a low rate of device-related complications. The in vivo PRIMA implantation technique has been developed and refined for use for a 2mm PRIMA implant in ongoing human trials.


Subject(s)
Microtechnology/instrumentation , Prostheses and Implants , Retina/surgery , Wireless Technology , Animals , Cats , Macaca fascicularis , Safety
10.
Retin Cases Brief Rep ; 14(2): 192-194, 2020.
Article in English | MEDLINE | ID: mdl-29155693

ABSTRACT

PURPOSE: This report describes a fulminant infection with Clostridium perfringens after an intravitreal anti-vascular endothelial growth factor injection. METHODS: This is a retrospective case review. RESULTS: Our patient's rapid infection eventually led to enucleation, despite broad-spectrum antibiotic therapy. CONCLUSION: Reporting rare causes and common clinical findings of C. perfringens ocular infection may lead to earlier detection and intervention.


Subject(s)
Bevacizumab/adverse effects , Clostridium perfringens/isolation & purification , Eye Infections, Bacterial/microbiology , Panophthalmitis/microbiology , Aged , Angiogenesis Inhibitors/administration & dosage , Angiogenesis Inhibitors/adverse effects , Bevacizumab/administration & dosage , Choroidal Neovascularization/drug therapy , Eye Infections, Bacterial/diagnosis , Eye Infections, Bacterial/etiology , Female , Humans , Intravitreal Injections/adverse effects , Magnetic Resonance Imaging , Panophthalmitis/diagnosis , Panophthalmitis/etiology , Receptors, Vascular Endothelial Growth Factor/antagonists & inhibitors , Ultrasonography
11.
Retina ; 40(9): 1719-1723, 2020 Sep.
Article in English | MEDLINE | ID: mdl-31800459

ABSTRACT

PURPOSE: To evaluate alterations in treatment burden and course of exudative age-related macular degeneration in patients who contracted endophthalmitis from intravitreal anti-vascular endothelial growth factor (anti-VEGF) injections. METHODS: Retrospective study at the University of Pittsburgh Medical Center examining frequency of anti-VEGF injections, activity of choroidal neovascularization, and visual acuity before and after endophthalmitis treatment. RESULTS: Twenty-one patients meeting inclusion criteria were identified, of whom 7 (33%) patients did not restart anti-VEGF treatment 12 months after endophthalmitis because of quiescence of exudative age-related macular degeneration without significant visual acuity loss (P > 0.05). Patients who resumed anti-VEGF treatment exhibited 32% and 38% decreases in injection frequency by 12 and 24 months after endophthalmitis, respectively (P < 0.05). On first optical coherence tomography follow-up, 10 patients exhibited quiescence of choroidal neovascularization activity, although there were no measurable changes in macular thickness (P > 0.05). No differences in post-endophthalmitis exudative age-related macular degeneration progression or treatment burden were observed when factoring adjuvant intravitreal steroid therapy, culture results, nor choroidal neovascularization subtypes. CONCLUSION: Endophthalmitis resolution is associated with a decrease in choroidal neovascularization activity and a reduction of anti-VEGF treatment burden in patients with exudative age-related macular degeneration.


Subject(s)
Angiogenesis Inhibitors/therapeutic use , Choroidal Neovascularization/physiopathology , Endophthalmitis/drug therapy , Eye Infections, Bacterial/drug therapy , Intravitreal Injections/adverse effects , Wet Macular Degeneration/physiopathology , Aged , Aged, 80 and over , Anti-Bacterial Agents/therapeutic use , Bevacizumab/therapeutic use , Choroidal Neovascularization/drug therapy , Endophthalmitis/etiology , Exudates and Transudates , Eye Infections, Bacterial/etiology , Female , Fluorescein Angiography , Humans , Male , Middle Aged , Ranibizumab/therapeutic use , Retrospective Studies , Tomography, Optical Coherence , Vascular Endothelial Growth Factor A/antagonists & inhibitors , Visual Acuity/physiology , Wet Macular Degeneration/drug therapy
12.
Ophthalmol Retina ; 3(6): 468-472, 2019 06.
Article in English | MEDLINE | ID: mdl-31174667

ABSTRACT

PURPOSE: To report refractive outcomes of scleral-fixated intraocular lens (IOL) implantation with Gore-Tex (W.L. Gore & Associates, Newark, DE) suture and combined pars plana vitrectomy and compare predicted refractive outcomes among 5 IOL power calculation formulas. DESIGN: Retrospective case series. PARTICIPANTS: Patients undergoing scleral-fixated IOL implantation with Gore-Tex suture at our institution between January 2015 and June 2018. METHODS: Comparison of preoperative biometrics with postoperative refraction and calculation of predicted refractive outcome with 5 different IOL formulas. MAIN OUTCOME MEASURES: Prediction error and absolute error to compare postoperative refraction with refraction predicted by lens power calculation formulas. RESULTS: Thirty-one eyes of 31 patients were included. All power calculations assumed in-the-bag position of the IOL. The Akreos A060 (Bausch & Lomb, Rochester, NY) was implanted in 23 eyes and the CZ70BD (Alcon, Fort Worth, TX) in 8 eyes, and all lenses were sutured 3 mm behind the limbus. Average postoperative spherical equivalent (SE) was -0.79±0.95 diopters (D). Average prediction error (postoperative SE refraction minus target refraction) was -0.19±0.72 D. Postoperative SE was within 1.0 D of target in 25 of 31 patients (81%) and 2.0 D of target in 31 of 31 patients (100%). The repeated-measures analysis of variance of absolute error by lens power formula was significant (P = 0.012), with Haigis demonstrating greater error. There was no significant difference among Barrett II, Sanders-Retzlaff-Kraff theoretical (SRK/T), Holladay 2, or Hoffer Q. CONCLUSIONS: For eyes undergoing pars plana vitrectomy with scleral-sutured IOL implantation, assumption of in-the-bag IOL position when calculating lens power leads to acceptable refractive outcomes. Barrett II, SRK/T, Holladay 2, and Hoffer Q formulas were noninferior to each other.


Subject(s)
Eye Diseases/surgery , Lens Implantation, Intraocular/methods , Lenses, Intraocular , Optics and Photonics , Refraction, Ocular/physiology , Sclera/surgery , Suture Techniques/instrumentation , Adult , Aged , Aged, 80 and over , Anterior Chamber/surgery , Biometry , Eye Diseases/physiopathology , Female , Follow-Up Studies , Humans , Male , Middle Aged , Polytetrafluoroethylene , Prosthesis Design , Retrospective Studies , Sutures , Treatment Outcome , Visual Acuity , Vitrectomy/methods
13.
Int J Comput Assist Radiol Surg ; 14(5): 819-828, 2019 May.
Article in English | MEDLINE | ID: mdl-30790173

ABSTRACT

PURPOSE: Robot-assisted intraocular microsurgery can improve performance by aiding the surgeon in operating on delicate micron-scale anatomical structures of the eye. In order to account for the eyeball motion that is typical in intraocular surgery, there is a need for fast and accurate algorithms that map the retinal vasculature and localize the retina with respect to the microscope. METHODS: This work extends our previous work by a graph-based SLAM formulation using a sparse incremental smoothing and mapping (iSAM) algorithm. RESULTS: The resulting technique, "EyeSAM," performs SLAM for intraoperative vitreoretinal surgical use while avoiding spurious duplication of structures as with the previous simpler technique. The technique also yields reduction in average pixel error in the camera motion estimation. CONCLUSIONS: This work provides techniques to improve intraoperative tracking of retinal vasculature by handling loop closures and achieving increased robustness to quick shaky motions and drift due to uncertainties in the motion estimation.


Subject(s)
Algorithms , Microsurgery/instrumentation , Ophthalmologic Surgical Procedures/instrumentation , Phantoms, Imaging , Retina/surgery , Retinal Diseases/surgery , Retinal Vessels/diagnostic imaging , Equipment Design , Humans , Retinal Diseases/diagnosis , Retinal Vessels/surgery
14.
Int J Med Robot ; 14(1)2018 Feb.
Article in English | MEDLINE | ID: mdl-28719002

ABSTRACT

BACKGROUND: Fast and accurate mapping and localization of the retinal vasculature is critical to increasing the effectiveness and clinical utility of robot-assisted intraocular microsurgery such as laser photocoagulation and retinal vessel cannulation. METHODS: The proposed EyeSLAM algorithm delivers 30 Hz real-time simultaneous localization and mapping of the human retina and vasculature during intraocular surgery, combining fast vessel detection with 2D scan-matching techniques to build and localize a probabilistic map of the vasculature. RESULTS: In the harsh imaging environment of retinal surgery with high magnification, quick shaky motions, textureless retina background, variable lighting and tool occlusion, EyeSLAM can map 75% of the vessels within two seconds of initialization and localize the retina in real time with a root mean squared (RMS) error of under 5.0 pixels (translation) and 1° (rotation). CONCLUSIONS: EyeSLAM robustly provides retinal maps and registration that enable intelligent surgical micromanipulators to aid surgeons in simulated retinal vessel tracing and photocoagulation tasks.


Subject(s)
Microsurgery/instrumentation , Microsurgery/methods , Ophthalmologic Surgical Procedures , Retina/surgery , Retinal Vessels/diagnostic imaging , Retinal Vessels/surgery , Algorithms , Calibration , False Positive Reactions , Humans , Imaging, Three-Dimensional , Light , Light Coagulation , Micromanipulation , Probability , Reproducibility of Results , Retina/diagnostic imaging , Robotics
15.
Int J Rob Res ; 37(8): 931-952, 2018 Jul.
Article in English | MEDLINE | ID: mdl-30739976

ABSTRACT

This paper presents techniques for robot-aided intraocular surgery using monocular vision in order to overcome erroneous stereo reconstruction in an intact eye. We propose a new retinal surface estimation method based on a structured-light approach. A handheld robot known as the Micron enables automatic scanning of a laser probe, creating projected beam patterns on the retinal surface. Geometric analysis of the patterns then allows planar reconstruction of the surface. To realize automated surgery in an intact eye, monocular hybrid visual servoing is accomplished through a scheme that incorporates surface reconstruction and partitioned visual servoing. We investigate the sensitivity of the estimation method according to relevant parameters and also evaluate its performance in both dry and wet conditions. The approach is validated through experiments for automated laser photocoagulation in a realistic eye phantom in vitro. Finally, we present the first demonstration of automated intraocular laser surgery in porcine eyes ex vivo.

16.
IEEE Int Conf Robot Autom ; 2017: 2951-2956, 2017.
Article in English | MEDLINE | ID: mdl-28966797

ABSTRACT

In this paper we describe work towards retinal vessel cannulation using an actively stabilized handheld robot, guided by monocular vision. We employ a previously developed monocular camera based surface reconstruction method using automated laser beam scanning over the retina. We use the reconstructed plane to find a coordinate transform between the 2D image plane coordinate system and the global 3D frame. Within a hemispherical region around the target, we use motion scaling for higher precision. The contribution of this work is the homography matrix estimation using monocular vision and application of the previously developed laser surface reconstruction to Micron guided vein cannulation. Experiments are conducted in a wet eye phantom to show the higher accuracy of the surface reconstruction as compared to standard stereo reconstruction. Further, experiments to show the increased surgical accuracy due to motion scaling are also carried out.

17.
Proc IEEE Sens ; 20172017.
Article in English | MEDLINE | ID: mdl-30147815

ABSTRACT

Frequency domain multiplexing (FDM) is a useful for making multiple measurements simultaneously, such as in optical and electromagnetic position trackers. Much interference is periodic (e.g., AC power harmonics), and is rejected well by FDM, but impulse disturbances are also common. Impulses corrupt the entire spectrum for a short period, and are better rejected in the time domain. Nonlinear blanking is a simple way to suppress impulses, but cannot be easily realized when the required dynamic range is large, and problematic noise may be far smaller than the signal. The described multi-rate Kalman filter upsamples the prediction to the input rate so that impulse departures from the predicted signal are easily detected and blanked out. Also, noise levels in unused adjacent channels are used to estimate measurement noise so that the Kalman filter adapts more slowly when noise is high, keeping output noise roughly constant even in the presence of longer noise bursts.

18.
IEEE Trans Robot ; 32(1): 246-251, 2016 Feb.
Article in English | MEDLINE | ID: mdl-27019653

ABSTRACT

This paper presents robot-aided intraocular laser surgery using a handheld robot known as Micron. The micromanipulator incorporated in Micron enables visual servoing of a laser probe, while maintaining a constant distance of the tool tip from the retinal surface. The comparative study was conducted with various control methods for evaluation of robot-aided intraocular laser surgery.

19.
Retin Cases Brief Rep ; 10(2): 145-50, 2016.
Article in English | MEDLINE | ID: mdl-26421964

ABSTRACT

PURPOSE: To illustrate spontaneous resolution of macular epiretinal membranes and inactivation of retinal hemangioma exudation after fluorescein potentiated argon laser treatment of bilateral capillary hemangiomas in a patient with a de novo heterozygous deletion in Exon 2 of the von Hippel-Lindau gene. METHODS: Interventional case report. RESULTS: A 23-year-old man with subjective complaints of blurry vision, photophobia, and glare. On presentation, visual acuity was 20/20 in the right eye and 20/25 in the left eye with metamorphopsia. On the basis of bilateral retinal hemangiomas on clinical examination and characterization with multimodal imaging, a diagnosis of von Hippel-Lindau disease was made. Genetic testing identified a de novo, disease-causing heterozygous deletion in Exon 2 of the von Hippel-Lindau gene. The patient underwent 4 sessions of fluorescein potentiated 532 nm argon green laser treatment directed at retinal hemangiomas. No adverse sequelae of laser treatment were noted. Seven months after the initial presentation, the patient's vision was 20/20 in both eyes with interval resolution of metamorphopsia. There was spontaneous resolution of a macular epiretinal membrane with normalization of the macular retinal microstructure. The retinal hemangiomas in both eyes appeared inactive, and no new lesions were noted. CONCLUSION: Fluorescein potentiated argon laser successfully treated bilateral retinal hemangiomas in our patient with von Hippel-Lindau disease. Additional studies to characterize the full clinical potential of fluorescein potentiated argon laser therapy may be warranted.


Subject(s)
Epiretinal Membrane/diagnosis , Fluorescein Angiography/methods , Hemangioma, Capillary/diagnosis , Lasers, Excimer/therapeutic use , Retina/diagnostic imaging , Retinal Neoplasms/diagnosis , von Hippel-Lindau Disease/surgery , Epiretinal Membrane/etiology , Follow-Up Studies , Fundus Oculi , Hemangioma, Capillary/etiology , Hemangioma, Capillary/surgery , Humans , Male , Remission, Spontaneous , Retinal Neoplasms/etiology , Retinal Neoplasms/surgery , Young Adult , von Hippel-Lindau Disease/complications , von Hippel-Lindau Disease/diagnosis
20.
Int J Med Robot ; 12(1): 85-95, 2016 Mar.
Article in English | MEDLINE | ID: mdl-25962836

ABSTRACT

BACKGROUND: Peeling procedures in retinal surgery require micron-scale manipulation and control of sub-tactile forces. METHODS: Hybrid position/force control of an actuated handheld microsurgical instrument is presented as a means for simultaneously improving positioning accuracy and reducing forces to prevent avoidable trauma to tissue. The system response was evaluated, and membrane-peeling trials were performed by four test subjects in both artificial and animal models. RESULTS: Maximum force was reduced by 56% in both models compared with position control. No statistically significant effect on procedure duration was observed. CONCLUSIONS: A hybrid position/force control system has been implemented that successfully attenuates forces and minimizes unwanted excursions during microsurgical procedures such as membrane peeling. Results also suggest that improvements in safety using this technique may be attained without increasing the duration of the procedure.


Subject(s)
Micromanipulation/instrumentation , Microsurgery/instrumentation , Retina/surgery , Robotic Surgical Procedures/instrumentation , Animals , Zygote
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