title: Comparative Evaluation of Handheld Robot-Aided Intraocular Laser Surgery.
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.
authors.affiliation: Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
authors.forename: Sungwook
authors.initials: S
authors.lastname: Yang
authors.affiliation: Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
authors.forename: Robert A
authors.initials: RA
authors.lastname: MacLachlan
authors.affiliation: Department of Ophthalmology, University of Pittsburgh, Pittsburgh, PA 15213 USA.
authors.forename: Joseph N
authors.initials: JN
authors.lastname: Martel
authors.affiliation: Department of Ophthalmology, University of Pittsburgh, Pittsburgh, PA 15213 USA.
authors.forename: Louis A
authors.initials: LA
authors.lastname: Lobes
authors.affiliation: Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
authors.forename: Cameron N
authors.initials: CN
authors.lastname: Riviere
keywords: Medical robotics; micromanipulator; surgery; visual servoing