Mark Draelos

Journal Article IEEE Robotics and Automation Letters · April 1, 2023 The Archimedean spiral is space-filling plane curve that is found in applications ranging from coverage path planning for robot exploration to scan pattern generation for medical imaging. The constant linear velocity (CLV) parameterization of this spiral i ... Full text Cite

Adaptive point-scan imaging beyond the frame rate–resolution limit with scene-reactive scan trajectories

Journal Article Optica · November 20, 2022 Point-scanned imaging modalities such as optical coherence tomography (OCT) are subject to frame rate limits governed by the image resolution, sampling rate, and scanner dynamics. For scenes with dynamic features on static backgrounds, adaptive scanning es ... Full text Cite

Optical coherence tomography refraction and optical path length correction for image-guided corneal surgery.

Journal Article Biomed Opt Express · September 1, 2022 Optical coherence tomography (OCT) may be useful for guidance of ocular microsurgeries such as deep anterior lamellar keratoplasty (DALK), a form of corneal transplantation that requires delicate insertion of a needle into the stroma to approximately 90% o ... Full text Link to item Cite

Data-Driven Modelling and Control for Robot Needle Insertion in Deep Anterior Lamellar Keratoplasty.

Journal Article IEEE Robot Autom Lett · April 2022 Deep anterior lamellar keratoplasty (DALK) is a technique for cornea transplantation which is associated with reduced patient morbidity. DALK has been explored as a potential application of robot microsurgery because the small scales, fine control requirem ... Full text Link to item Cite

Contactless optical coherence tomography of the eyes of freestanding individuals with a robotic scanner.

Journal Article Nat Biomed Eng · July 2021 Clinical systems for optical coherence tomography (OCT) are used routinely to diagnose and monitor patients with a range of ocular diseases. They are large tabletop instruments operated by trained staff, and require mechanical stabilization of the head of ... Full text Link to item Cite

Robotically aligned OCT enables physically distanced imaging and relevant measurements in a retina clinic population

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · 2021 Cite

Autofocusing and Autoaligning Robotic Optical Coherence Tomography

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · 2021 Cite

Combining artificial intelligence and robotics: a semi-automated optical coherence tomography-based approach for posterior eye disease screening

Conference · 2021 Link to item Cite

Optical Coherence Tomography-Guided Robotic Ophthalmic Microsurgery via Reinforcement Learning from Demonstration.

Journal Article IEEE Trans Robot · August 2020 Ophthalmic microsurgery is technically difficult because the scale of required surgical tool manipulations challenge the limits of the surgeon's visual acuity, sensory perception, and physical dexterity. Intraoperative optical coherence tomography (OCT) im ... Full text Link to item Cite

Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty.

Journal Article IEEE Trans Biomed Eng · July 2020 OBJECTIVE: Deep anterior lamellar keratoplasty (DALK) significantly reduces the post-transplantation morbidity in patients eligible for partial-thickness cornea grafts. The popular "big bubble" technique for DALK is so challenging, however, that a signific ... Full text Link to item Cite

Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning.

Conference ICRA · 2020 Cite

Robotically Aligned OCT Imaging with Clinically Relevant Fields of View on the Retina

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · 2020 Cite

Automatic optical coherence tomography imaging of stationary and moving eyes with a robotically-aligned scanner

Conference Proceedings - IEEE International Conference on Robotics and Automation · May 1, 2019 Optical coherence tomography (OCT) has found great success in ophthalmology where it plays a key role in screening and diagnostics. Clinical ophthalmic OCT systems are typically deployed as tabletop instruments that require chinrest stabilization and train ... Full text Cite

Real-Time Image-Guided Cooperative Robotic Assist Device for Deep Anterior Lamellar Keratoplasty

Conference Proceedings - IEEE International Conference on Robotics and Automation · September 10, 2018 Deep anterior lamellar keratoplasty (DALK) is a promising technique for corneal transplantation that avoids the chronic immunosuppression comorbidities and graft rejection risk associated with penetrating keratoplasty (PKP), the standard procedure. In DALK ... Full text Cite

OCT-Guided Cooperative Robotic Deep Anterior Lamellar Keratoplasty

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · July 1, 2018 Link to item Cite

Real- time Corneal Segmentation and 3D Needle Tracking in Intrasurgical OCT

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · July 1, 2018 Link to item Cite

Real-time corneal segmentation and 3D needle tracking in intrasurgical OCT.

Journal Article Biomed Opt Express · June 1, 2018 Ophthalmic procedures demand precise surgical instrument control in depth, yet standard operating microscopes supply limited depth perception. Current commercial microscope-integrated optical coherence tomography partially meets this need with manually-pos ... Full text Link to item Cite

Real-time visualization and interaction with static and live optical coherence tomography volumes in immersive virtual reality.

Journal Article Biomed Opt Express · June 1, 2018 Virtual reality (VR) head-mounted displays are an attractive technology for viewing intrasurgical optical coherence tomography (OCT) volumes because they liberate surgeons from microscope oculars. We demonstrate real-time, interactive viewing of OCT volume ... Full text Link to item Cite

Real-Time Image-Guided Cooperative Robotic Assist Device for Deep Anterior Lamellar Keratoplasty.

Conference ICRA · 2018 Cite

Teleoperating robots from arbitrary viewpoints in surgical contexts

Conference IEEE International Conference on Intelligent Robots and Systems · December 13, 2017 Intraoperative 3D imaging has great potential for enhancing surgical visualization. This is especially so in ophthalmic surgery where live volumetric imaging from optical coherence tomography systems recently incorporated into surgical microscopes has free ... Full text Cite

Immersive Virtual Reality for Live Volumetric Optical Coherence Tomography

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 1, 2017 Link to item Cite

Review of intraoperative optical coherence tomography: technology and applications [Invited].

Journal Article Biomed Opt Express · March 1, 2017 During microsurgery, en face imaging of the surgical field through the operating microscope limits the surgeon's depth perception and visualization of instruments and sub-surface anatomy. Surgical procedures outside microsurgery, such as breast tumor resec ... Full text Link to item Cite

Mark Draelos

Selected Publications

Time-Optimal Spiral Trajectories With Closed-Form Solutions