Ophthalmic microsurgical robot and associated virtual environment

Hunter, Ian W.; Jones, Lynette A.; Sagar, Mark; Lafontaine, S.; Hunter, Peter

doi:10.1016/0010-4825(94)00042-o

Cited by 61 publications

(31 citation statements)

References 8 publications

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“…In addition, difficult and rare cases can be simulated and made available for repeated practice. With appropriate biomechanical models and simulation techniques, the tissue responses in real surgical scenarios can be replicated and the tactile feeling can be reproduced through haptic devices [3]. Availability is no longer a problem since the computer-generated virtual surgical environments are reusable and accessible whenever necessary, making the training process more convenient and effective.…”

Section: Introductionmentioning

confidence: 99%

“…Research effort has been devoted to the simulation of laser photocoagulation [5], vitrectomy [6][7][8], redial keratotomy [3] and in particular, phacoemulsification cataract surgery [9][10][11][12][13][14]. In the aspects of physical simulation, finite element method (FEM) has been adopted in conjunction with the elasticity theory to model large tissue deformation involved in eye surgery [3].…”

Section: Introductionmentioning

confidence: 99%

“…In the aspects of physical simulation, finite element method (FEM) has been adopted in conjunction with the elasticity theory to model large tissue deformation involved in eye surgery [3]. Mass-spring model (MSM) is also employed to model deformation and incisions performed on eye models constructed with mass points and springs [6].…”

Section: Introductionmentioning

confidence: 99%

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A virtual training simulator for learning cataract surgery with phacoemulsification

Choi¹,

Soo²,

Chung³

2009

Computers in Biology and Medicine

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This paper presents the development of a low-cost cataract surgery simulator for trainees to practise phacoemulsification procedures with computer-generated models in virtual environments. It focuses on the training of cornea incision, capsulorrhexis and phaco-sculpting, which are simulated interactively with computationally efficient algorithms developed for tissue deformation, surface cutting and volume sculpting.Intuitive two-handed human-computer interactions are achieved with six degrees-offreedom haptic devices. Performance of trainees on manual dexterity is recorded with quantifiable metrics. The proposed virtual-reality system has the potential to serve as an alternative training tool to supplement conventional cataract surgery education.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A virtual training simulator for learning cataract surgery with phacoemulsification

Choi¹,

Soo²,

Chung³

2009

Computers in Biology and Medicine

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“…Mechanical systems have been developed which extend the capability of human operators using telerobotic principles [1] including virtual training [2], manipulation of objects in hazardous environments [3], remote surgery [4,5], and microsurgery [2,[6][7][8][9][10]. In general, telerobotic devices rely on an operator commanding the motion of a robot using a secondary input device.…”

Section: Robotically Assisted Micro-manipulationmentioning

confidence: 99%

A Steady-Hand Robotic System for Microsurgical Augmentation

Taylor

Jensen

Whitcomb

et al. 1999

Medical Image Computing and Computer-Assisted Intervention – MICCAI’99

169

151

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This paper reports the development of a robotic system designed to extend a human's ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgement, sensory integration and hand-eye coordination.Our novel approach, which we call "steady hand" micromanipulation, is for tools to be held simultaneously both by the operator's hand and a specially designed actively controlled robot arm. The robot's controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free precise positional control and force scaling. Our goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of handheld tools for tasks characterized by compliant or semi-rigid contacts with the environment.

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“…However, the number of ophthalmology-related studies on the topic over the same period has remained surprisingly low since the first publication in 1995. 4 Ocular surgery already is minimally invasive microsurgery yielding excellent results. Nonetheless, there are many potential advantages of the use of robotics in eye surgery, including increased precision and maneuverability (degree of freedom), scalability of motion, tremor filtration, better ergonomics, ability to simultaneously manipulate three surgical instruments and cameras, improved patient access to surgeons, and surgical training.…”

Section: Introductionmentioning

confidence: 99%

Robot-Assisted Pterygium Surgery: Feasibility Study in a Nonliving Porcine Model

Bourcier

Nardin

Sauer

et al. 2015

Trans. Vis. Sci. Tech.

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Citation: Bourcier T, Nardin M, Sauer A, et al. Robot-assisted pterygium surgery: feasibility study in a nonliving porcine model. Trans Vis Sci Tech. 2015;4(1):9, http://tvstjournal. org/doi/full/10.1167/tvst.4.1.9, doi: 10.1167/tvst.4.1.9Purpose: This study aims to investigate the feasibility of pterygium surgery using the DaVinci Si HD robotic surgical system, and to describe a porcine model for pterygium surgery and evaluate its usefulness. Methods:The pterygium models were constructed using enucleated pig eyes and cold cuts. Robotically-assisted pterygium surgeries in nonliving biological pterygium models were performed using the DaVinci Si HD robotic surgical system. Twelve models were prepared, and 12 pterygium excision and conjunctival autografts were performed.Results: The DaVinci system provided the necessary dexterity to perform delicate ocular surface surgery and robotic tools were safe for the tissues. The mean duration of the surgical procedures was 36 minutes. There were no intraoperative complications and no unexpected events.Conclusions: Robotic-assisted pterygium surgery is technically feasible for porcine eyes using the DaVinci Si HD robotic surgical system. The pterygium model that we describe could be of interest for surgical training.Translational Relevance: Little research has been done in robotic microsurgery. Animal experimentation will allow the advantages of robotic-assisted microsurgery to be identified, while underlining the improvements and innovations necessary for clinical use.

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Ophthalmic microsurgical robot and associated virtual environment

Cited by 61 publications

References 8 publications

A virtual training simulator for learning cataract surgery with phacoemulsification

A virtual training simulator for learning cataract surgery with phacoemulsification

A Steady-Hand Robotic System for Microsurgical Augmentation

Robot-Assisted Pterygium Surgery: Feasibility Study in a Nonliving Porcine Model

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