Bionic Eye -Optical Contact Measurement of Retina Model-€¦ · Bionic humanoid Mechanical...
1
Contact person： Hisataka Maruyama E-mail: [email protected] URL: http://www.biorobotics.mech.nagoya-u.ac.jp/ TEL: 052-789-5026, FAX : 052-789-5027 Acknowledgements： This work was funded by ImPACT Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). Reference Background Experiment Concept Conclusions DIC algorithm Fabrication Suguru ENDO, Hisataka MARUYAMA, Seiji OMATA, Taisuke MASUDA, Fumihito ARAI Bionic Eye -Optical Contact Measurement of Retina Model- Deformation distribution on retinal model mimicking Young’s modulus was measured using DIC method. Eye surgeries requiring skillful surgeons Cannulation Internal limiting membrane (ILM) peeling Tokyo Univ. Hospital ILM on retina: Thickness: approximately 3 m Retina: fragile tissue and not regenerative Conventional surgical simulators Animal model VR simulator Image Y. Ida, et. al, Int J Comput Assist Radiol Surg. 2012 Jan;7(1):27-34. Labuschagne MJ, Countinuing Medical Education, 2013 Merits Similarity of structure Confirmation of surgical process Demerits Young’s modulus is different. Impossible to use surgical tool Conventional simulator doesn’t have sensors for evaluating skill. Requirement for model for surgical simulator ・Mimicking organs' characteristics ・Deformation sensing Bionic humanoid Mechanical properties of human eye Thomas R. Friberg, Experimental Eye Research, 47, 3, pp. 429-436, 1988. Young modulus Retina: 20 kPa Sclera: 1.8-2.9 MPa Sclera Retina Thickness Retina: 300 m Sclera: 2 mm Concept of measurement using optical sensing Maximum deformation of retinal surface Area of deformation of retinal model Acquired image Push in: 0 m Push in: 12 m ,︓Coordinates of focus point before deformation ,︓Coordinates of focus point after deformation ,︓Coordinates in subset ,︓Luminance of digital image before and after deformation ︓ Subset size , ︓Displacement of focus point , ൌ ∑ ∑ , െ ̅ , െ ̅ ୀ ୀ ∑ ∑ , െ ̅ ଶ ୀ ୀ ∑ ∑ , െ ̅ ଶ ୀ ୀ ൌ ൌ 2. Determination of u, v that maximizes γ (, ) 1. Search a subset centered on the point of interest and a subset of higher correlation coefficient γ Retinal model Young's modulus Retina: Sclera: Load cell: Resolution: 0.01 mN Stage: 2 mm/step Light: 850 nm 1W Relationship between push in and load Microscope for eye surgery S. Endo, H. Maruyama, S. Omata, T. Masuda, F. Arai, Bionic Eye - Optical Contact Measurement of Retina Model- , Robomech2018, 1P1-L05, 2018 Deformation distribution of the surface of retinal model is measured by image processing with digital image correlation.
Transcript of Bionic Eye -Optical Contact Measurement of Retina Model-€¦ · Bionic humanoid Mechanical...
Contact person： Hisataka MaruyamaE-mail: [email protected]: http://www.biorobotics.mech.nagoya-u.ac.jp/TEL: 052-789-5026, FAX : 052-789-5027
Acknowledgements：This work was funded by ImPACT Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan).
Reference
Background
Experiment
Concept
Conclusions
DIC algorithm
Fabrication
Suguru ENDO, Hisataka MARUYAMA,Seiji OMATA, Taisuke MASUDA, Fumihito ARAI
Bionic Eye-Optical Contact Measurement of Retina Model-
Deformation distribution on retinal model mimicking Young’smodulus was measured using DIC method.
Eye surgeries requiring skillful surgeons
Cannulation Internal limiting membrane (ILM) peelingTokyo Univ. Hospital
ILM on retina: Thickness: approximately 3 mRetina: fragile tissue and not regenerative
Conventional surgical simulators
Animal model VR simulator
Image
Y. Ida, et. al, Int J Comput Assist RadiolSurg. 2012 Jan;7(1):27-34.
Labuschagne MJ, CountinuingMedical Education, 2013
MeritsSimilarity of structure
Confirmation of surgical process
DemeritsYoung’s modulus is different.
Impossible to use surgical tool
Conventional simulatordoesn’t have sensors for evaluating skill.
Requirement for model for surgical simulator
・Mimicking organs' characteristics
・Deformation sensing
Bionic humanoid
Mechanical properties of human eye
Thomas R. Friberg, Experimental Eye Research, 47, 3, pp. 429-436, 1988.
Young modulusRetina: 20 kPaSclera: 1.8-2.9 MPa
Sclera
Retina
ThicknessRetina: 300 mSclera: 2 mm
Concept of measurement using optical sensing
Maximum deformation of retinal surface Area of deformation of retinal model
Acquired image Push in: 0 m Push in: 12 m
𝑥, 𝑦︓Coordinates of focus point before deformation𝑋, 𝑌︓Coordinates of focus point after deformation𝑖, 𝑗︓Coordinates in subset𝐼 , 𝐼︓Luminance of digital image before and after deformation𝑚︓ Subset size𝑢, 𝑣︓Displacement of focus point
𝛾 𝑢, 𝑣∑ ∑ 𝐼 𝑥 𝑖 𝑢, 𝑦 𝑗 𝑣 𝐼 ̅ 𝐼 𝑥 𝑖, 𝑦 𝑗 𝐼 ̅
∑ ∑ 𝐼 𝑥 𝑖 𝑢, 𝑦 𝑗 𝑣 𝐼 ̅ ∑ ∑ 𝐼 𝑥 𝑖, 𝑦 𝑗 𝐼 ̅
𝑋 𝑥 𝑢𝑌 𝑦 𝑣
2. Determination of u, v that maximizes γ (𝑢, 𝑣)
1. Search a subset centered on the point of interest and a subset of higher correlation coefficient γ
Retinal model
Young's modulusRetina:Sclera:
Load cell: Resolution: 0.01 mNStage: 2 mm/stepLight: 850 nm 1W
Relationship between push in and load
Microscope for eye surgery
S. Endo, H. Maruyama, S. Omata, T. Masuda, F. Arai, Bionic Eye -Optical Contact Measurement of Retina Model- , Robomech2018,1P1-L05, 2018
Deformation distribution of the surface of retinal model is measured by image processing with digital image correlation.
