Background: Since the advent of robotic-assisted surgery, the value of using robotic systems

Purpose: Robotic intraocular microsurgery requires a remote center of motion (RCM) at the site of ocular penetration. We designed and tested the Hexapod Surgical System (HSS), a microrobot mounted on the da Vinci macrorobot for intraocular microsurgery. Material and Methods: Translations and rotations of the HSS were tested for range of motion and stability. Precision and dexterity were assessed by pointing and inserting a coupled probe into holes of various sizes. The stability of a nonmechanical RCM was quantified. HSS functionalities were observed on porcine eyes. Results: The HSS maximal translations were 10 (x and y axes) and 5 cm (z axis). The maximal rotations were 15 and 22° (x and y axes). The precision was within 0.5 mm away from targets in 26/30 tests and maximal in 16/30 tests. The mean translational and rotational stability at the tip of the probe were 1.2 (0.6–1.9) and 1 mm (0–2), respectively. The average dexterity times were 5.2 (4.4–6.5), 7.1 (5.6–10.8) and 12.3 s (7.8–21.7) for 5-, 2- and 1-mm holes, respectively. The RCM was stable (within 0.1 mm). A vitreous cutter coupled to the HSS moved into porcine eyes through a sclerotomy with a stable RCM. Conclusion: The HSS provides an RCM dedicated for intraocular robotic surgery with a high level of precision and dexterity. Although it can be further improved, the micro-macro robotic system is a feasible approach for ocular surgery.

Murine models are used extensively in biological and translational research. For many of these studies it is necessary to access the vasculature for the injection of biologically active agents. Among the possible methods for accessing the mouse vasculature, tail vein injections are a routine but critical step for many experimental protocols. To perform successful tail vein injections, a high skill set and experience is required, leaving most scientists ill-suited to perform this task. This can lead to a high variability between injections, which can impact experimental results. To allow more scientists to perform their own tail vein injections and to decrease the variability between injections a vascular access system (VAS) that semi-automatically inserts a needle into the tail vein of a mouse was developed. The VAS uses near infrared (NIR) light, image processing techniques, computer controlled motors, and a pressure feedback system to insert the needle and to validate its proper placement within the vein. The VAS was tested by injecting a commonly used radiolabeled probe (FDG) into the tail veins of five mice. These mice were then imaged using micro-positron emission tomography (PET) to measure the percentage of the injected probe remaining in the tail. These studies showed that, on average, the VAS leaves 3.4% of the injected probe in the tail. With these preliminary results, the VAS system demonstrates the potential for improving the accuracy of tail vein injections in mice.

A laparoscopic surgical training system, the LapaRobot, is introduced. The system is composed of an expert station and a trainee station connected through the Internet. Embedded actuators allow the trainee station to be driven by an expert surgeon so that a trainee learns proper technique through physical feedback. The surgical‐tool trajectory and video feed can be recorded and later “played back” to a trainee to hone operative skills through guided repetition without the need for expert supervision. The system is designed to create a high‐fidelity approximation of the intracorporeal workspace, incorporate commercially available surgical instruments, and provide a wealth of high‐resolution data for quantitative analysis and feedback. Experimental evaluation demonstrated a 55% improvement in surgical performance with use of our system. In this paper, we introduce the details of the design and fabrication of the LapaRobot, illustrate the mechatronics and software‐control schemes, and evaluate the system in a study.