intraOcular RoBotic Interventional System (iORBIS): Mechanical design for distally-actuated instrument insertion and automatic tool change

Chen, Cheng-Wei; Chen, Hsing-Chi; Yang, Hung‐Yu; Zeng, Xiangyan; Wu, Xianhao; Chen, Po-Chih

doi:10.1016/j.mechmachtheory.2021.104568

Cited by 5 publications

(5 citation statements)

References 38 publications

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“…In this study, we applied the iORBIS robotic manipulator 18 to perform simulated SRI automatically on the retinal phantom. Various surgical parameters, including retinal curvature, insertion angle, and injection speed, were evaluated to understand their influence on bleb formation.…”

Section: Discussionmentioning

confidence: 99%

“…It is worth mentioning that image‐based guidance was necessary as the PolyTip cannula was soft and could be slightly bent during insertion. In addition, the backlash errors were assessed to determine the positioning error of the iORBIS manipulator, which reached a maximum of 3 mm 18 . Therefore, it was very challenging to perform automated insertion only based on the predetermined distance between the cannula and the target injection position.…”

Section: Methodsmentioning

confidence: 99%

“…17 However, establishing a comprehensive predictive model for bleb formation in SRI requires precise control of experimental variables and a large collection of experimental results. To achieve this, we utilised the intraOcular RoBotic Interventional System (iORBIS), a state-of-theart robotic system recently developed by Chen et al 18 The iORBIS provides exceptional motion resolution of 0.49 μm for instrument insertion and retraction and an attitude error of less than 0.1°. Thus, the iORBIS robotic manipulator meets the stringent clinical requirements for performing SRI.…”

mentioning

confidence: 99%

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Analysis on key parameters in subretinal injection facilitating a predictable and automated robot‐assisted treatment in gene therapy

Huang

Yang

Chen

et al. 2023

Robotics Computer Surgery

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BackgroundSubretinal injection (SRI) has become an important surgical method for treating vitreoretinal diseases. Nevertheless, the optimisation of bleb formation in SRI, for the attainment of desired therapeutic outcomes, still requires further investigation.MethodsThis study analysed the influence of surgical parameters on SRI using a robotic setup. The surgical procedure was automated using visual guidance. A predictive model for bleb formation was established through regression analysis. To validate the model, we compared the clinical data's target area with the simulated SRI's actual area using parameters determined by the predictive model.ResultsThe insertion angle dominated the eccentricity and area of the bleb. The injection speed dominated the axial angle. Automated SRI increased success rate and produced predictable outcomes.ConclusionsWe could provide accurate SRI on phantom models by adjusting surgical parameters based on the patient's clinical information. Automatic robot‐assisted SRI is a promising surgical technique with highly predictable results.

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Section: Discussionmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

mentioning

confidence: 99%

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Analysis on key parameters in subretinal injection facilitating a predictable and automated robot‐assisted treatment in gene therapy

Huang

Yang

Chen

et al. 2023

Robotics Computer Surgery

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“…It can be improved by the kinematic calibration. The kinematic calibration is an effective way to improve the motion control accuracy of the RCM manipulator, thereby facilitating the RCM manipulator to better meet the clinical demands for high accuracy 18,56,57 The presence of nonlinear factors.…”

Section: Discussionmentioning

confidence: 99%

“…The kinematic calibration is an effective way to improve the motion control accuracy of the RCM manipulator, thereby facilitating the RCM manipulator to better meet the clinical demands for high accuracy. 18,56,57 (2) The presence of nonlinear factors. They play a crucial role in a control system as complex as RCM manipulators.…”

Section: Conflict Of Interest Statementmentioning

confidence: 99%

Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

Huang,

Sang,

Liu

et al. 2023

Robotics Computer Surgery

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BackgroundWith the expansion of minimally invasive surgery (MIS) applications in surgery, the remote centre of motion (RCM) manipulator requires a more flexible workspace to meet different operation requirements. Thus, the mechanical structure and motion control of the RCM manipulator play important roles.MethodsA multi‐objective genetic algorithm was exploited to maximise the kinematic performance and obtain a compact structure of the RCM manipulator. An inverse kinematic solution method is proposed to meet task accuracy and kinematic singularity avoidance constraints for safety motion control.ResultsSimulation results demonstrate that there are significant improvements in the reachable workspace inside the abdominal cavity, the flexibility of the workspace, kinematic performance, and compactness of the RCM manipulator. Experiments verify the feasibility of the prototype and the validity of the proposed inverse kinematic solution method.ConclusionsThis enhances the adaptability and safety of the RCM manipulator and provides potential prospects for MIS application.

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A family of generalized single-loop RCM parallel mechanisms: structure synthesis, kinematic model, and case study

Li,

Zhang,

Tian

2024

Mechanism and Machine Theory

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intraOcular RoBotic Interventional System (iORBIS): Mechanical design for distally-actuated instrument insertion and automatic tool change

Cited by 5 publications

References 38 publications

Analysis on key parameters in subretinal injection facilitating a predictable and automated robot‐assisted treatment in gene therapy

Analysis on key parameters in subretinal injection facilitating a predictable and automated robot‐assisted treatment in gene therapy

Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

A family of generalized single-loop RCM parallel mechanisms: structure synthesis, kinematic model, and case study

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