{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T17:29:00Z","timestamp":1774978140211,"version":"3.50.1"},"reference-count":14,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2023,6,24]],"date-time":"2023-06-24T00:00:00Z","timestamp":1687564800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2023,6,24]],"date-time":"2023-06-24T00:00:00Z","timestamp":1687564800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EPSRC DTP EP\/R513064\/1"],"award-info":[{"award-number":["EPSRC DTP EP\/R513064\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["714562"],"award-info":[{"award-number":["714562"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J CARS"],"abstract":"<jats:title>Abstract<\/jats:title><jats:sec>\n                <jats:title>Purpose<\/jats:title>\n                <jats:p>Robot-assisted vitreoretinal surgery provides precise and consistent operations on the back of the eye. To perform this safely, knowledge of the surgical instrument\u2019s remote centre of motion (RCM) and the location of the insertion point into the eye (trocar) is required. This enables the robot to align both positions to pivot the instrument about the trocar, thus preventing any damaging lateral forces from being exerted.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Methods<\/jats:title>\n                <jats:p>Building on a system developed in previous work, this study presents a trocar localisation method that uses a micro-camera mounted on a vitreoretinal surgical forceps, to track two ArUco markers attached on either side of a trocar. The trocar position is the estimated midpoint between the markers.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Results<\/jats:title>\n                <jats:p>Experimental evaluation of the trocar localisation was conducted. Results showed an RMSE of 1.82\u00a0mm for the localisation of the markers and an RMSE of 1.24\u00a0mm for the trocar localisation.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Conclusions<\/jats:title>\n                <jats:p>The proposed camera-based trocar localisation presents reasonable consistency and accuracy and shows improved results compared to other current methods. Optimum accuracy for this application would necessitate a 1.4\u00a0mm absolute error margin, which corresponds to the trocar\u2019s radius. The trocar localisation results are successfully found within this margin, yet the marker localisation would require further refinement to ensure consistency of localisation within the error margin. Further work will refine these position estimates and ensure the error stays consistently within this boundary.<\/jats:p>\n              <\/jats:sec>","DOI":"10.1007\/s11548-023-02987-y","type":"journal-article","created":{"date-parts":[[2023,6,24]],"date-time":"2023-06-24T13:06:09Z","timestamp":1687611969000},"page":"191-198","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Trocar localisation for robot-assisted vitreoretinal surgery"],"prefix":"10.1007","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7381-2497","authenticated-orcid":false,"given":"Jeremy","family":"Birch","sequence":"first","affiliation":[]},{"given":"Lyndon","family":"Da Cruz","sequence":"additional","affiliation":[]},{"given":"Kawal","family":"Rhode","sequence":"additional","affiliation":[]},{"given":"Christos","family":"Bergeles","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,6,24]]},"reference":[{"key":"2987_CR1","doi-asserted-by":"publisher","first-page":"627","DOI":"10.1016\/b978-0-12-814245-5.00036-0","volume-title":"Robotic Retinal Surgery","author":"E Vander Poorten","year":"2020","unstructured":"Vander Poorten E, Riviere CN, Abbott JJ, Bergeles C, Nasseri MA, Kang JU, Sznitman R, Faridpooya K, Iordachita I (2020) Robotic Retinal Surgery. Elsevier, Amsterdam, pp 627\u2013672. https:\/\/doi.org\/10.1016\/b978-0-12-814245-5.00036-0"},{"key":"2987_CR2","doi-asserted-by":"crossref","unstructured":"Russo G, Moccia S, Martel JN, Perin A, Sekula RF, Bascetta L, Momi ED, Riviere CN (2019) Admittance control of a handheld microsurgical instrument. In: Proceedings of Hamlyn symposium on medical robotics, pp 109\u2013110","DOI":"10.31256\/HSMR2019.55"},{"key":"2987_CR3","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0162037","author":"MD De Smet","year":"2016","unstructured":"De Smet MD, Meenink TCM, Janssens T, Vanheukelom V, Naus GJL, Beelen MJ, Meers C, Jonckx B, Stassen JM (2016) Robotic assisted cannulation of occluded retinal veins. PLoS ONE. https:\/\/doi.org\/10.1371\/journal.pone.0162037","journal-title":"PLoS ONE"},{"key":"2987_CR4","doi-asserted-by":"publisher","unstructured":"Birch J, Da Cruz L, Rhode K, Bergeles C (2021) Towards localisation of remote centre of motion and trocar in vitreoretinal surgery. In: UKRAS21: robotics at home proceedings, vol 4, pp 33\u201334. https:\/\/doi.org\/10.31256\/QV4TP7H","DOI":"10.31256\/QV4TP7H"},{"key":"2987_CR5","doi-asserted-by":"publisher","unstructured":"Joerger G, Huang A, Bass B, Dunkin B, Garbey M (2018) Global laparoscopy positioning system with a smart trocar. In: 2017 IEEE BIBE, vol January. IEEE, pp 359\u2013366. https:\/\/doi.org\/10.1109\/BIBE.2017.00-28","DOI":"10.1109\/BIBE.2017.00-28"},{"key":"2987_CR6","doi-asserted-by":"publisher","unstructured":"Yip HM, Chen W, Liu YH (2019) A vision-assisted semi-automatic uterus manipulation approach based on a pose estimating trocar. In: IEEE\/ASME international conference on advanced intelligent mechatronics, AIM, vol July. IEEE, pp 169\u2013174. https:\/\/doi.org\/10.1109\/AIM.2019.8868416","DOI":"10.1109\/AIM.2019.8868416"},{"key":"2987_CR7","doi-asserted-by":"publisher","unstructured":"Dong L, Morel G (2016) Robust trocar detection and localization during robot-assisted endoscopic surgery. 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