Abstract
We present a retinal-surgery telemanipulation system with submicron precision that is compact enough to be head-mounted and that uses a full range of existing disposable instruments. Two actuation mechanisms are described that enable the use of actuated instruments, and an instrument adapter enables quick-change of instruments. Experiments on a phantom eye show that telemanipulated surgery results in reduction of maximum downward force on the retina as compared to manual surgery for experienced users.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Riviere, C.N., Rader, R.S., Khosla, P.K.: Characteristics of hand motion of eye surgeons. In: Int. Conf. IEEE. Engineering in Medicine and Biology Society, pp. 1690–1693 (1997)
Gupta, P.K., Jensen, P.S., de Juan Jr., E.: Surgical forces and tactile perception during retinal microsurgery. In: Taylor, C., Colchester, A. (eds.) MICCAI 1999. LNCS, vol. 1679, pp. 1218–1225. Springer, Heidelberg (1999)
McCannel, C.A., Olson, E.J., Donaldson, M.J., Bakri, S.J., Pulido, J.S., Mueller, D.: Snoring is associated with unexpected patient head movement during monitored anesthesia care vitreoretinal surgery. Retina 32(7), 1324–1327 (2012)
Wilkins, J.R., Puliafito, C.A., Hee, M.R., Duker, J.S., Reichel, E., Coker, J.G., Schuman, J.S., Swanson, E.A., Fujimoto, J.G.: Characterization of epiretinal membranes using optical coherence tomography. Ophthalmology 103(12), 2142–2151 (1996)
Henrich, P.B., Monnier, C.A., Loparic, M., Cattin, P.C.: Material properties of the internal limiting membrane and their significance in chromovitrectomy. Ophthalmologica 230(2), 11–20 (2013)
Donati, G., Kapetanios, A.D., Pournaras, C.J.: Complications of surgery for epiretinal membranes. Graefe’s Archive for Clinical and Experimental Ophthalmology 236(10), 739–746 (1998)
Jensen, P.S., Grace, K.W., Attariwala, R., Colgate, J.E., Glucksberg, M.R.: Toward robot-assisted vascular microsurgery in the retina. Graefe’s Archive for Clinical and Experimental Ophthalmology 235(11), 696–701 (1997)
Wei, W., Popplewell, C., Chang, S., Fine, H.F., Simaan, N.: Enabling technology for microvascular stenting in ophthalmic surgery. J. Medical Devices 4(1), 14503 (2010)
Ida, Y., Sugita, N., Ueta, T., Tamaki, Y., Tanimoto, K., Mitsuishi, M.: Microsurgical robotic system for vitreoretinal surgery. Int. J. Computer Assisted Radiology and Surgery 7(1), 27–34 (2012)
Nasseri, M., Eder, M., Nair, S., Dean, E., Maier, M., Zapp, D., Lohmann, C., Knoll, A.: The introduction of a new robot for assistance in ophthalmic surgery. In: Int. Conf. IEEE Engineering in Medicine and Biology Society, pp. 5682–5685 (2013)
Meenink, H., Hendrix, R., Naus, G., Beelen, M., Nijmeijer, H., Steinbuch, M., Oosterhout, E., Smet, M.: Robot-assisted vitreoretinal surgery. In: Medical Robotics: Minimally Invasive Surgery, pp. 185–209 (2012)
Uneri, A., Balicki, M.A., Handa, J., Gehlbach, P., Taylor, R.H., Iordachita, I.: New steady-hand eye robot with micro-force sensing for vitreoretinal surgery. In: IEEE Int. Conf. Biomedical Robotics and Biomechatronics, pp. 814–819 (2010)
MacLachlan, R.A., Becker, B.C., Cuevas Tabarés, J., Podnar, G.W., Lobes, L.A., Riviere, C.N.: Micron: an actively stabilized handheld tool for microsurgery. IEEE Trans. Robotics 28(1), 195–212 (2012)
Balicki, M., Uneri, A., Iordachita, I., Handa, J., Gehlbach, P., Taylor, R.: Micro-force sensing in robot assisted membrane peeling for vitreoretinal surgery. In: Jiang, T., Navab, N., Pluim, J.P.W., Viergever, M.A. (eds.) MICCAI 2010, Part III. LNCS, vol. 6363, pp. 303–310. Springer, Heidelberg (2010)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Nambi, M., Bernstein, P.S., Abbott, J.J. (2015). A Compact Retinal-Surgery Telemanipulator that Uses Disposable Instruments. In: Navab, N., Hornegger, J., Wells, W., Frangi, A. (eds) Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2015. MICCAI 2015. Lecture Notes in Computer Science(), vol 9349. Springer, Cham. https://doi.org/10.1007/978-3-319-24553-9_32
Download citation
DOI: https://doi.org/10.1007/978-3-319-24553-9_32
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-24552-2
Online ISBN: 978-3-319-24553-9
eBook Packages: Computer ScienceComputer Science (R0)