BACKGROUND: Microcannulation, a surgical procedure for the eye that requires drug injection into a 60-90 µm retinal vein, is difficult to perform manually. Robotic assistance has been proposed; however, its effectiveness in comparison to manual operation has not been quantified. METHODS: An eye model has been developed to quantify the performance of manual and robotic microcannulation. The eye model, which is implemented with a force sensor and microchannels, also simulates the mechanical constraints of the instrument's movement. Ten subjects performed microcannulation using the model, with and without robotic assistance. RESULTS: The results showed that the robotic assistance was useful for motion stability when the drug was injected, whereas its positioning accuracy offered no advantage. CONCLUSIONS: An eye model was used to quantitatively assess the robotic microcannulation performance in comparison to manual operation. This approach could be valid for a better evaluation of surgical robotic assistance.
BACKGROUND: Microcannulation, a surgical procedure for the eye that requires drug injection into a 60-90 µm retinal vein, is difficult to perform manually. Robotic assistance has been proposed; however, its effectiveness in comparison to manual operation has not been quantified. METHODS: An eye model has been developed to quantify the performance of manual and robotic microcannulation. The eye model, which is implemented with a force sensor and microchannels, also simulates the mechanical constraints of the instrument's movement. Ten subjects performed microcannulation using the model, with and without robotic assistance. RESULTS: The results showed that the robotic assistance was useful for motion stability when the drug was injected, whereas its positioning accuracy offered no advantage. CONCLUSIONS: An eye model was used to quantitatively assess the robotic microcannulation performance in comparison to manual operation. This approach could be valid for a better evaluation of surgical robotic assistance.
Authors: Ali Ebrahimi; Muller Urias; Niravkumar Patel; Changyan He; Russell H Taylor; Peter Gehlbach; Iulian Iordachita Journal: ROMAN Date: 2020-01-13
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Authors: Berk Gonenc; Nhat Tran; Cameron N Riviere; Peter Gehlbach; Russell H Taylor; Iulian Iordachita Journal: IEEE SICE RSJ Int Conf Multisens Fusion Integr Intell Syst Date: 2015-09
Authors: Ali Ebrahimi; Changyan He; Marina Roizenblatt; Niravkumar Patel; Shahriar Sefati; Peter Gehlbach; Iulian Iordachita Journal: Annu Int Conf IEEE Eng Med Biol Soc Date: 2018-07