标题： 带集成经瞳孔和眼内光学相干断层扫描的安全机器人胶囊清洁 显示英文标题

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

摘要： 后发性白内障是白内障手术后残留晶状体物质在晶状体囊上自然生长导致视力丧失的最常见并发症之一。 一种潜在的治疗方法是囊膜清洁，这是一种外科手术，需要增强对整个囊膜的可视化以及在薄膜上的工具操作。 本文介绍了一种机器人系统，通过在手术器械上集成标准的经瞳孔和眼内光学相干断层扫描探头，实现了赤道囊膜的可视化和实时工具-组织距离反馈，从而执行囊膜清洁程序。 利用机器人精度，该系统能够在瞳孔和赤道区域完成完整的囊膜映射，并进行折射率和光纤偏移的原位校准，这些仍然是获得准确囊膜模型的当前挑战。 为了证明有效性，通过在眼球模型上的五次实验试验验证了囊膜映射策略，结果显示构建的囊膜模型的均方根误差减少，而清洁策略在三只离体猪眼中进行且未造成组织损伤。 显示英文摘要

摘要： 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.