Compared with a single manipulator manufacturing cell, a dual manipulator cooperative system has more advantages in reconfigurability and flexibility. However, there are calibration errors and multi-source disturbances in the collaborative process, which lead to the processing trajectory accuracy defects of large-scale associated machining features. To solve the above problems, a practical path tracking synchronous control algorithm based on position-based visual servoing (PBVS) is proposed in this paper for the dual manipulator cooperative system, the proposed dynamic path tracking cross-coupled sliding mode controller (PTCSMC) scheme can realize dynamic paths correction while executing the pre-planned paths. In addition, for the cross-coupled technology to be applied into the proposed control algorithm for dynamic path tracking based on the real-time feedback of the highly repeatable 3D visual measurement instrument (VMI), the tracking and synchronous errors of the dual manipulators converge synchronously to zero. Finally, the stability of proposed control algorithm is proven by the Lyapunov method. In the end, the real-time line and circle path tracking experimental results using two industrial manipulators demonstrate the effectiveness of the proposed algorithm.

Accurately and rapidly measuring the diameter of central serous chorioretinopathy (CSCR) lesion area is the key to judge the severity of CSCR and evaluate the efficacy of the corresponding treatments. Currently, the manual measurement scheme based on a single or a small number of optical coherence tomography (OCT) B‐scan images encounters the dilemma of incredibility. Although manually measuring the diameters of all OCT B‐scan images of a single patient can alleviate the previous issue, the situation of inefficiency will thus arise. Additionally, manual operation is subject to subjective factors of ophthalmologists, resulting in unrepeatable measurement results. Therefore, an automatic image processing method (i.e., a joint framework) based on artificial intelligence (AI) is innovatively proposed for locating the key boundary points of CSCR lesion area to assist the diameter measurement. Firstly, the initial location module (ILM) benefiting from multitask learning is properly adjusted and tentatively achieves the preliminary location of key boundary points. Secondly, the location task is formulated as a Markov decision process, aiming at further improving the location accuracy by utilizing the single agent reinforcement learning module (SARLM). Finally, the joint framework based on the ILM and SARLM is skillfully established, in which ILM provides an initial starting point for SARLM to narrow the active region of agent, and SARLM makes up for the defect of low generalization of ILM by virtue of the independent exploration ability of agent. Experiments reveal the AI‐based method which joins the multitask learning, and single agent reinforcement learning paradigms enable agents to work in local region, alleviating the time‐consuming problem of SARLM, performing location task in a global scope, and improving the location accuracy of ILM, thus reflecting its effectiveness and clinical application value in the task of rapidly and accurately measuring the diameter of CSCR lesions.

At present, laser surgery is one of the effective ways to treat the chronic central serous chorioretinopathy (CSCR), in which the location of the leakage area is of great importance. In order to alleviate the pressure on ophthalmologists to manually label the biomarkers as well as elevate the biomarker segmentation quality, a semiautomatic biomarker segmentation method is proposed in this paper, aiming to facilitate the accurate and rapid acquisition of biomarker location information. Firstly, the multimodal fundus images are introduced into the biomarker segmentation task, which can effectively weaken the interference of highlighted vessels in the angiography images to the location of biomarkers. Secondly, a semiautomatic localization technique is adopted to reduce the search range of biomarkers, thus enabling the improvement of segmentation efficiency. On the basis of the above, the low-rank and sparse decomposition (LRSD) theory is introduced to construct the baseline segmentation scheme for segmentation of the CSCR biomarkers. Moreover, a joint segmentation framework consisting of the above method and region growing (RG) method is further designed to improve the performance of the baseline scheme. On the one hand, the LRSD is applied to offer the initial location information of biomarkers for the RG method, so as to ensure that the RG method can capture effective biomarkers. On the other hand, the biomarkers obtained by RG are fused with those gained by LRSD to make up for the defect of undersegmentation of the baseline scheme. Finally, the quantitative and qualitative ablation experiments have been carried out to demonstrate that the joint segmentation framework performs well than the baseline scheme in most cases, especially in the sensitivity and F1-score indicators, which not only confirms the effectiveness of the framework in the CSCR biomarker segmentation scene but also implies its potential application value in CSCR laser surgery.