Real-Time Iris Tracking Using Deep Regression Networks for Robotic Ophthalmic Surgery

Huaiyu Qiu,Yu Yang,Gui-Bin Bian,Chen Xin,Zhen Li

doi:10.1109/access.2020.2980005

Abstract

Robotic-assisted platforms are expected to guarantee the accuracy of surgical operation and accelerate its learning curve. Iris tracking can guide the robotic manipulator during the operation. However, few researches focused on it during surgery. It is a big challenge due to the deformation of the iris and occlusion caused by instruments. A novel real-time iris tracking method based on a regression network are proposed to meet the speed and accuracy requirements of the ophthalmic robotic system. It utilizes the low-level visual features and high-level semantic meanings from different layers to capture the discriminative representation of the iris target. Then the bottleneck layers are added to improve computation efficiency. Furthermore, a multi-loss function is designed by jointly learning Absolute loss and Euclidean loss. Finally, the experimental results under the typical surgical scene demonstrate that iris tracker achieves an accuracy of 89.16% and a real-time speed of 134fps with GPU, which is suitable for the ophthalmic robotic system to perform real-time robotic manipulation.

Highlights

Cataracts are one of the most common ophthalmic conditions
Qiu et al.: Real-Time Iris Tracking Using Deep Regression Networks for Robotic Ophthalmic Surgery vision system, we focused on iris tracking task during the surgical operation
Compare with the same network, which only use a single loss function, the results show that the model with the designed multi-loss function has a higher Area under curve (AUC) score for precision and success plot

Summary

Introduction

Cataracts are one of the most common ophthalmic conditions. They are the principal cause of blindness. According to a world health report, about 43% of global blindness were caused by cataracts [1]. Other countries have the same trends [4].Cataracts are clouding of the eye lens. As they grow, the normal life of the patient may be affected. Surgery is the most effective and common way to treat cataracts. The surgeon will remove the cataracts and replace them with the intraocular lens (IOL) [5]

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