Calibration of a Robotic Platform for Autonomous Eye Injections

This is my Semester Project during my master’s study at ETHZ. It was conducted at Multi-Scale Robotics Lab led by Prof. Bradley Nelson. My supervisors are Claas Ehmke and Jasan Zughaibi.

Age-related macular degeneration (AMD) is a leading cause of blindness, treated through precise, repeated intravitreal injections. This project enhances a robotic platform designed to automate these injections. Key improvements include camera calibration and kinematic optimization.

• AprilTags were used to calibrate the relative transformation between each component.
• An optimization algorithm was developed to refine the robot’s kinematic parameters.
• Needle calibration was also performed to refine the kinematic parameters of the end-effector.
• The system successfully guided needles into 0.5mm targets.
• The limitation lies in the localization accuracy of Apriltags.
• The project was graded 5.75/6.