Peter Gehlbach

Orcid: 0000-0002-9608-9171

According to our database1, Peter Gehlbach authored at least 78 papers between 2009 and 2024.

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Bibliography

2024
Autonomous Needle Navigation in Subretinal Injections via iOCT.
IEEE Robotics Autom. Lett., May, 2024

Towards Autonomous Retinal Microsurgery Using RGB-D Images.
IEEE Robotics Autom. Lett., 2024

Bimanual Manipulation of Steady Hand Eye Robots with Adaptive Sclera Force Control: Cooperative vs. Teleoperation Strategies.
CoRR, 2024

A Data-Driven Model with Hysteresis Compensation for I<sup>2</sup>RIS Robot.
Proceedings of the International Symposium on Medical Robotics, 2024

Exploring the Needle Tip Interaction Force with Retinal Tissue Deformation in Vitreoretinal Surgery.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Colibri5: Real-Time Monocular 5-DoF Trocar Pose Tracking for Robot-Assisted Vitreoretinal Surgery.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023
Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-Assisted Eye Surgery.
IEEE Trans. Robotics, April, 2023

Steady-Hand Eye Robot 3.0: Optimization and Benchtop Evaluation for Subretinal Injection.
CoRR, 2023

Micromanipulation in Surgery: Autonomous Needle Insertion Inside the Eye for Targeted Drug Delivery.
CoRR, 2023

Deep Learning Guided Autonomous Surgery: Guiding Small Needles into Sub-Millimeter Scale Blood Vessels.
CoRR, 2023

Deep Learning Guided Autonomous Retinal Surgery using a Robotic Arm, Microscopy, and iOCT Imaging.
CoRR, 2023

A Data-Driven Model with Hysteresis Compensation for I2RIS Robot.
CoRR, 2023

Human-Robot Interaction in Retinal Surgery: A Comparative Study of Serial and Parallel Cooperative Robots.
Proceedings of the 32nd IEEE International Conference on Robot and Human Interactive Communication, 2023

Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in ex vivo Porcine Eyes.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022
Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: In-Vivo Study.
IEEE Trans. Biomed. Eng., 2022

Υ-Net: A Spatiospectral Network for Retinal OCT Segmentation.
CoRR, 2022

Y-Net: A Spatiospectral Dual-Encoder Network for Medical Image Segmentation.
Proceedings of the Medical Image Computing and Computer Assisted Intervention - MICCAI 2022, 2022

Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery <sup>*</sup>.
Proceedings of the International Symposium on Medical Robotics, 2022

ColibriDoc: an Eye-in-Hand Autonomous Trocar Docking System.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

OCT-guided Robotic Subretinal Needle Injections: A Deep Learning-Based Registration Approach.
Proceedings of the IEEE International Conference on Bioinformatics and Biomedicine, 2022

2021
Spotlight-Based 3D Instrument Guidance for Autonomous Task in Robot-Assisted Retinal Surgery.
IEEE Robotics Autom. Lett., October, 2021

Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study.
IEEE Trans. Biomed. Eng., 2021

ColibriDoc: An Eye-in-Hand Autonomous Trocar Docking System.
CoRR, 2021

Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot.
Proceedings of the International Symposium on Medical Robotics, 2021

2020
Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework.
IEEE Trans. Biomed. Eng., 2020

Spotlight-based 3D Instrument Guidance for Retinal Surgery.
Proceedings of the International Symposium on Medical Robotics, 2020

Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study.
Proceedings of the International Symposium on Medical Robotics, 2020

FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy.
Proceedings of the International Symposium on Medical Robotics, 2020

An Optimized Tilt Mechanism for a New Steady-Hand Eye Robot.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Auditory Feedback Effectiveness for Enabling Safe Sclera Force in Robot-Assisted Vitreoretinal Surgery: a Multi-User Study.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

A Comparison of Manual and Robot Assisted Retinal Vein Cannulation in Chicken Chorioallantoic Membrane.
Proceedings of the 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2020

Scleral Force Evaluation During Vitreoretinal Surgery: in an In Vivo Rabbit Eye Model.
Proceedings of the 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2020

Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control.
Proceedings of the 4th Conference on Robot Learning, 2020

2019
Hybrid Robotic-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries.
CoRR, 2019

Towards securing the sclera against patient involuntary head movement in robotic retinal surgery.
Proceedings of the 28th IEEE International Conference on Robot and Human Interactive Communication, 2019

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback.
Proceedings of the International Symposium on Medical Robotics, 2019

A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning<sup>*</sup>.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Toward Improving Patient Safety and Surgeon Comfort in a Synergic Robot-Assisted Eye Surgery: A Comparative Study.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Sclera Force Evaluation During Vitreoretinal Surgeries in Ex Vivo Porcine Eye Model.
Proceedings of the 2019 IEEE SENSORS, Montreal, QC, Canada, October 27-30, 2019, 2019

Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery.
Proceedings of the International Conference on Robotics and Automation, 2019

2018
User Behavior Evaluation in Robot-Assisted Retinal Surgery.
Proceedings of the 27th IEEE International Symposium on Robot and Human Interactive Communication, 2018

Towards Bimanual Robot-Assisted Retinal Surgery: Tool-to-Sclera Force Evaluation.
Proceedings of the 2018 IEEE SENSORS, New Delhi, India, October 28-31, 2018, 2018

Real-Time Sclera Force Feedback for Enabling Safe Robot-Assisted Vitreoretinal Surgery.
Proceedings of the 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2018

2017
Towards Robot-Assisted Retinal Vein Cannulation: A Motorized Force-Sensing Microneedle Integrated with a Handheld Micromanipulator.
Sensors, 2017

Safe tissue manipulation in retinal microsurgery via motorized instruments with force sensing.
Proceedings of the 2017 IEEE SENSORS, Glasgow, United Kingdom, October 29, 2017

2016
Robot-assisted retinal vein cannulation with force-based puncture detection: Micron vs. the steady-hand eye robot.
Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2016

3-DOF force-sensing micro-forceps for robot-assisted membrane peeling: Intrinsic actuation force modeling.
Proceedings of the 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, 2016

2015
Force-based puncture detection and active position holding for assisted retinal vein cannulation.
Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2015

Effects of micro-vibratory modulation during robot-assisted membrane peeling.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

IRIS: Integrated Robotic Intraocular Snake.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Development of the dual SMART micro-surgical system using common-path swept source optical coherence tomography.
Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2015

FBG-based sensorized light pipe for robotic intraocular illumination facilitates bimanual retinal microsurgery.
Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2015

2014
A Submillimetric 3-DOF Force Sensing Instrument With Integrated Fiber Bragg Grating for Retinal Microsurgery.
IEEE Trans. Biomed. Eng., 2014

A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Towards robot-assisted vitreoretinal surgery: Force-sensing micro-forceps integrated with a handheld micromanipulator.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Toward robotically assisted membrane peeling with 3-DOF distal force sensing in retinal microsurgery.
Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014

Human eye phantom for developing computer and robot-assisted epiretinal membrane peeling.
Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014

Injection-depth-locking axial motion guided handheld micro-injector using CP-SSOCT.
Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014

Development of a miniaturized 3-DOF force sensing instrument for robotically assisted retinal microsurgery and preliminary results.
Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014

Motorized force-sensing micro-forceps with tremor cancelling and controlled micro-vibrations for easier membrane peeling.
Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014

2013
Comparison of Baseline Tremor under Various Microsurgical Conditions.
Proceedings of the IEEE International Conference on Systems, 2013

A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Design of 3-DOF force sensing micro-forceps for robot assisted vitreoretinal surgery.
Proceedings of the 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2013

2012
Interactive OCT Annotation and Visualization for Vitreoretinal Surgery.
Proceedings of the Augmented Environments for Computer-Assisted Interventions, 2012

Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Swept source optical coherence tomography based smart handheld vitreoretinal microsurgical tool for tremor suppression.
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012

Force sensing micro-forceps for robot assisted retinal surgery.
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012

2011
Unified Detection and Tracking in Retinal Microsurgery.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention - MICCAI 2011, 2011

2010
Adaptive Multispectral Illumination for Retinal Microsurgery.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2010

Micro-force Sensing in Robot Assisted Membrane Peeling for Vitreoretinal Surgery.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2010

Active Multispectral Illumination and Image Fusion for Retinal Microsurgery.
Proceedings of the Information Processing in Computer-Assisted Interventions, 2010

2009
A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery.
Int. J. Comput. Assist. Radiol. Surg., 2009

Single Fiber Optical Coherence Tomography Microsurgical Instruments for Computer and Robot-Assisted Retinal Surgery.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention, 2009


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