Autonomous Coordinated Control of the Light Guide for Positioning in Vitreoretinal Surgery

Vitreoretinal surgery is challenging even for expert surgeons owing to the delicate target tissues and diminutive workspace in retina. In addition improved dexterity accuracy, robot assistance allows (partial) task automation. this work, we propose a strategy automate motion of light guide with respect surgical instrument. This automation instrument's shadow always be inside microscopic view, which an important cue accurate positioning instrument We show simulations experiments demonstrating that proposed effective 700-point grid retina phantom. Furthermore, integrated image processing succeeded tip retina, relying on only robot's geometric information images.