Real-time Deformation-aware Control for Autonomous Robotic Subretinal Injection under iOCT Guidance

Paper: Arxiv

Overview

This repository contains the code for a real-time deformation-aware control system designed for autonomous robotic subretinal injection. The system is guided by intraoperative Optical Coherence Tomography (iOCT) to ensure precision during delicate surgical procedures.

Features

• Real-time deformation-aware control
• Autonomous robotic subretinal injection
• iOCT guidance for enhanced precision
• Integration with Leica microscopes for B⁵-scan acquisition

Installation

To use this repository, clone it and install the necessary dependencies:

git clone https://github.com/demirarikan/oct-depth-control.git
cd oct-depth-control
pip install -r requirements.txt

Usage

B⁵-scans

This video shows how to setup the Leica microscope for B⁵-scan acquisition.

how-to-b5-scan.mp4

Setting up ROS nodes

• Start the b-scan publisher

python3 b_scan_publisher.py

• Start the new robot controller

python3 new_robot_controller.py

• Start the depth control script

Warning

This will start moving the robot! Make sure the emergency stop button is within reach.

Target depth and the maximum insertion velocity can be changed in the main function of this script as well.

python3 ros_depth_control.py