{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,14]],"date-time":"2026-10-14T02:45:58Z","timestamp":1791945958214,"version":"4.3.4"},"reference-count":17,"publisher":"World Scientific Pub Co Pte Ltd","issue":"03n04","funder":[{"DOI":"10.13039\/100000002","name":"National Institutes of Health","doi-asserted-by":"publisher","award":["R01EB023943"],"award-info":[{"award-number":["R01EB023943"]}],"id":[{"id":"10.13039\/100000002","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000002","name":"National Institutes of Health","doi-asserted-by":"publisher","award":["R01EB034397"],"award-info":[{"award-number":["R01EB034397"]}],"id":[{"id":"10.13039\/100000002","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100007880","name":"Johns Hopkins University internal funds","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100007880","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Med. Robot. Res."],"published-print":{"date-parts":[[2026,12]]},"abstract":"<jats:p>\n                    Intraocular microsurgery requires submillimeter precision within an extremely confined and delicate anatomical workspace. Cable-driven continuum robots such as Improved Integrated Robotic Intraocular Snake (I\n                    <jats:sup>2<\/jats:sup>\n                    RIS) offer the necessary dexterity but exhibit nonlinear hysteresis, complicating accurate control and localization. To enhance control precision, vision-based localization methods can be incorporated to provide external feedback and to compensate for modeling uncertainties. To support the development and quantitative evaluation of such vision-based approaches, modular, and open-source simulation framework is established, replicating an ophthalmic surgical scene that includes the eyeball model, the I\n                    <jats:sup>2<\/jats:sup>\n                    RIS continuum robot, and a calibrated surgical microscope. This environment enables automated and scalable acquisition of data that includes synchronized RGB-D images and corresponding ground-truth 6D pose data under diverse lighting, texture, and background conditions. Using the generated dataset, we conduct representative experiments on geometry-driven 6D pose tracking and appearance-based sim-to-real detection to evaluate its applicability for vision-based localization tasks. In addition, a preliminary domain gap analysis is performed using structure-based image similarity metrics, including Canny edge statistics and structural similarity (SSIM), to quantitatively assess visual alignment between simulated and real microscope images. The resulting dataset serves as a consistent evaluation resource for debugging, training, and assessing localization algorithms in intraocular continuum robotics, supporting reproducible research and sim-to-real generalization studies.\n                  <\/jats:p>","DOI":"10.1142\/s2424905x26500066","type":"journal-article","created":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T06:33:23Z","timestamp":1778222003000},"source":"Crossref","is-referenced-by-count":2,"title":["A Modular Synthetic Data Generation Toolkit for Vision-Based Localization Models in Intraocular Robotic Microsurgery"],"prefix":"10.1142","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-9167-0534","authenticated-orcid":false,"given":"Siying","family":"Zhu","sequence":"first","affiliation":[{"name":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-7693-125X","authenticated-orcid":false,"given":"Yub","family":"Heo","sequence":"additional","affiliation":[{"name":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6220-6862","authenticated-orcid":false,"given":"Mojtaba","family":"Esfandiari","sequence":"additional","affiliation":[{"name":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6186-1838","authenticated-orcid":false,"given":"Hisashi","family":"Ishida","sequence":"additional","affiliation":[{"name":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0103-1234","authenticated-orcid":false,"given":"Lalithkumar","family":"Seenivasan","sequence":"additional","affiliation":[{"name":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6117-5467","authenticated-orcid":false,"given":"Peter","family":"Kazanzides","sequence":"additional","affiliation":[{"name":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9608-9171","authenticated-orcid":false,"given":"Peter L.","family":"Gehlbach","sequence":"additional","affiliation":[{"name":"Wilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD 21287, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2510-9008","authenticated-orcid":false,"given":"Iulian","family":"Iordachita","sequence":"additional","affiliation":[{"name":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3400-4558","authenticated-orcid":false,"given":"Adnan","family":"Munawar","sequence":"additional","affiliation":[{"name":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"219","published-online":{"date-parts":[[2026,6,22]]},"reference":[{"issue":"1","key":"S2424905X26500066BIB001","doi-asserted-by":"crossref","first-page":"120","DOI":"10.1016\/S0161-6420(94)31354-6","volume":"101","author":"Klein R.","year":"1994","journal-title":"Ophthalmology"},{"key":"S2424905X26500066BIB002","doi-asserted-by":"publisher","DOI":"10.1155\/2021\/8959153"},{"key":"S2424905X26500066BIB003","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-011-0602-4"},{"key":"S2424905X26500066BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2010.5625991"},{"key":"S2424905X26500066BIB005","volume-title":"Proc. Hamlyn Symposium on Medical Robotics","author":"Jinno M.","year":"2020"},{"key":"S2424905X26500066BIB006","doi-asserted-by":"crossref","unstructured":"Y. Yue, M. Esfandiari, P. Du, P. Gehlbach, M. Jinno, A. Munawar, P. Kazanzides and I. Iordachita, An extended generalized Prandtl-Ishlinskii hysteresis model for i2ris robot, arXiv:2504.12114, (2025).","DOI":"10.1016\/j.ifacol.2025.12.257"},{"key":"S2424905X26500066BIB007","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijsu.2012.05.009"},{"key":"S2424905X26500066BIB008","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3061069"},{"key":"S2424905X26500066BIB009","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910368147"},{"key":"S2424905X26500066BIB010","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3504321"},{"key":"S2424905X26500066BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2023.3310011"},{"key":"S2424905X26500066BIB012","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968594"},{"key":"S2424905X26500066BIB013","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611637"},{"key":"S2424905X26500066BIB014","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01692"},{"key":"S2424905X26500066BIB015","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.00987"},{"key":"S2424905X26500066BIB016","doi-asserted-by":"publisher","DOI":"10.1109\/34.232073"},{"key":"S2424905X26500066BIB017","unstructured":"T. Eiter and H. Mannila, Computing discrete Fr\u00e9chet distance, Technical Report CD-TR 94\/64, Christian Doppler Laboratory for Expert Systems, Technische Universit\u00e4t Wien (1994)."}],"container-title":["Journal of Medical Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S2424905X26500066","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,10,14]],"date-time":"2026-10-14T02:23:48Z","timestamp":1791944628000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/10.1142\/S2424905X26500066"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6,22]]},"references-count":17,"journal-issue":{"issue":"03n04","published-print":{"date-parts":[[2026,12]]}},"alternative-id":["10.1142\/S2424905X26500066"],"URL":"https:\/\/doi.org\/10.1142\/s2424905x26500066","relation":{},"ISSN":["2424-905X","2424-9068"],"issn-type":[{"value":"2424-905X","type":"print"},{"value":"2424-9068","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,6,22]]},"article-number":"2650006"}}