Wide-angle localization of intraocular devices from focus

Future retinal therapies will be partially automated in order to increase the surgeons´ ability to operate near the sensitive structure of the human eye retina. Untethered robotic devices that achieve the desired precision have been proposed, but require localization information for their control. Since the interior of the human eye is externally observable, vision can be used for localization. Previously, a focus-based paraxial localization algorithm using a mechatronic vitreoretinal ophthalmoscope(MVO) was proposed and evaluated by the authors. In this paper, the first algorithm for wide-angle intraocular localization is presented. The effectiveness of this new localization approach is demonstrated by experiments using a model eye and a customized MVO, and there is clear improvement over previously reported results.