Toward robot-assisted vascular microsurgery in the retina

Jensen, Patrick S.; Grace, Kenneth W.; Attariwala, Rajpaul; Colgate, J. Edward; Glucksberg, Matthew R.

doi:10.1007/bf01880668

Cited by 83 publications

(50 citation statements)

References 10 publications

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“…Precise movements could be completed at the expense of greatly increased surgical procedure time [2]. Over the next decade, several other groups described prototypes with the ability to perform dedicated microsurgical tasks in animal models, including cannulation of retinal vessels [3], drainage device implantation [4] intravascular drug delivery, and microvascular pressure measurement [5].…”

Section: Previous Advancements In Robot-assisted Ophthalmic Surgerymentioning

confidence: 99%

Robotic Eye Surgery: Past, Present, and Future

Pitcher¹

2012

J Comput Sci Syst Biol

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Purpose: To review past attempts, current innovations, and future goals of robotic eye surgery. Methods:A Medline literature search using the words "robot" and "ophthalmology" was performed to identify all relevant literature. Pertinent articles were reviewed and content summarized based on context. Results:Purported potential benefits of robotic-assisted eye surgery include improved precision, reduced tremor, amplified scale of motion, and the potential of automation and telesurgical operation. Several investigators have created devices capable of performing individual intraocular tasks, and efforts are underway to develop platforms designed to allow completion of entire ophthalmic procedures. Conclusion:Although obstacles such as cost and availability exist, prior successes and future benefits of robotic eye surgery are promising reasons for the continuation of research efforts.

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Section: Previous Advancements In Robot-assisted Ophthalmic Surgerymentioning

confidence: 99%

Robotic Eye Surgery: Past, Present, and Future

Pitcher¹

2012

J Comput Sci Syst Biol

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“…The retinal vessels ranged in internal diameter from 20 to 130 microns. The researchers were unable to achieve this goal with human dexterity, and therefore designed another one of the earliest ocular surgery robotic prototypes (Jensen, Grace et al 1997). The prototype used the Stewart based platform which had already established its place in machine tool technology (Figure 3).…”

Section: Early Ocular Surgery Robotic Prototypesmentioning

confidence: 99%

“…Photograph of the robotic manipulator based on a stewart platform design. From Jensen, P. S., K. W. Grace, et al (1997). "Toward robot-assisted vascular microsurgery in the retina."…”

Section: Early Ocular Surgery Robotic Prototypesmentioning

confidence: 99%

“…We chose to combine the da Vinci system with the Stewart based manipulator, described above, because it had six degrees of motion and was originally designed for robot-assisted cannulation of retinal vessels with success (Jensen, Grace et al 1997).The platform had a parallel manipulator with a fixed based and used an octahedral assembly of struts. The Stewart platform was customized to fit onto the arms of the da Vinci Surgical System, and the combined device was named the Hexapod Surgical System (Figure 8).…”

Section: Hexapod Surgical Systemmentioning

confidence: 99%

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Robotic Surgery in Ophthalmology

et al.

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“…Examples of surgical assistant systems can be seen in laparoscopic surgery [1,2,3,4,5], microsurgery [6,7,8], orthopedic surgery [9] and sinus surgery [10]. The Intuitive daVinci robotic surgical system [3] and the Computer Motion Zeus robotic surgical system [4] are two commercialized surgical telemanipulators which are capable of performing remote telerobotic laparoscopic surgery.…”

Section: Introductionmentioning

confidence: 99%

Telerobotic Control by Virtual Fixtures for Surgical Applications

Kapoor

Taylor

Springer Tracts in Advanced Robotics

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Summary. We present a new method to generate spatial motion constraints for surgical robots that provide sophisticated ways to assist the surgeon. Surgical robotic assistant systems are human-machine collaborative systems (HMCS) that work interactively with surgeons by augmenting their ability to manipulate surgical instruments in carrying out a variety of surgical tasks. The goal of "virtual fixtures" (VF) is to provide anisotropic motion behavior to the surgeon's motion command and to filter out tremor to enhance precision and stability. Our method uses a weighted, linearized, multi-objective optimization framework to formalize a library of virtual fixtures for task primitives. We set the objective function based on user input that can be obtained through a force sensor, joystick or a master robot. We set the linearized subject function based on five basic geometric constraints. The strength of this approach is that it is extensible to include additional constraints such as collision avoidance, anatomybased constraints and joint limits, by using an instantaneous kinematic relationship between the task variables and robot joints. We illustrate our approach using three surgical tasks: percutaneous needle insertion, femur cutting for prosthetic implant and suturing. For the percutaneous procedures we provide a remote center of motion (RCM) point that provides an isocentric motion that is fundamental to these types of procedures. For femur cutting procedures we provide assistance by maintaining proper tool orientation and position. For the suturing task we address the problem of stitching in endoscopic surgery using a circular needle. We show that with help of VF, suturing can be performed at awkward angles without multiple trials, thus avoiding damage to tissue.

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Toward robot-assisted vascular microsurgery in the retina

Abstract: This device has applications in microsurgery where tremor and fatigue limit the performance of an unaided hand and where mechanically constrained manipulators are inappropriate due to size and operative constraints.

Cited by 83 publications

References 10 publications

Robotic Eye Surgery: Past, Present, and Future

Robotic Eye Surgery: Past, Present, and Future

Robotic Surgery in Ophthalmology

Telerobotic Control by Virtual Fixtures for Surgical Applications

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