TY - JOUR
T1 - Towards Robotic-Assisted Subretinal Injection
T2 - A Hybrid Parallel-Serial Robot System Design and Preliminary Evaluation
AU - Zhou, Mingchuan
AU - Yu, Qiming
AU - Huang, Kai
AU - Mahov, Simeon
AU - Eslami, Abouzar
AU - Maier, Mathias
AU - Lohmann, Chris P.
AU - Navab, Nassir
AU - Zapp, Daniel
AU - Knoll, Alois
AU - Nasseri, M. Ali
N1 - Publisher Copyright:
© 1982-2012 IEEE.
PY - 2020/8
Y1 - 2020/8
N2 - Subretinal injection is a delicate and complex microsurgery. The main surgical difficulties come from the surgeon's hand tremor, dexterous motion, and insufficient visual feedback. In order to begin addressing these challenges, this article presents a robot system for subretinal insertion integrated with intraoperative optical coherence tomography (OCT). The surgical workflow using this system consists of two main parts. The first part is the manual robot control, which aims the target before approaching the retinal surface, while considering the remote center of motion (RCM) constraint. When the injection area has been located precisely, needle is inserted into retina. To ensure surgical safety, needle insertion depth is estimated using OCT images on a continuous basis. A soft RCM control method is designed and integrated for the controller of our hybrid parallel-serial surgical robot. Safety and accuracy performance evaluation with a 15-ms control loop shows that the worst-case RCM deviation error is within 1 mm. Experimental results demonstrated that the proposed system has the ability to improve surgical outcomes by surgeons overcoming their physical limitations in order to enable a better dexterous motion, and furthermore enhancing their visual feedback for a better intraocular perception.
AB - Subretinal injection is a delicate and complex microsurgery. The main surgical difficulties come from the surgeon's hand tremor, dexterous motion, and insufficient visual feedback. In order to begin addressing these challenges, this article presents a robot system for subretinal insertion integrated with intraoperative optical coherence tomography (OCT). The surgical workflow using this system consists of two main parts. The first part is the manual robot control, which aims the target before approaching the retinal surface, while considering the remote center of motion (RCM) constraint. When the injection area has been located precisely, needle is inserted into retina. To ensure surgical safety, needle insertion depth is estimated using OCT images on a continuous basis. A soft RCM control method is designed and integrated for the controller of our hybrid parallel-serial surgical robot. Safety and accuracy performance evaluation with a 15-ms control loop shows that the worst-case RCM deviation error is within 1 mm. Experimental results demonstrated that the proposed system has the ability to improve surgical outcomes by surgeons overcoming their physical limitations in order to enable a better dexterous motion, and furthermore enhancing their visual feedback for a better intraocular perception.
KW - Biomedical optical imaging
KW - medical control systems
KW - motion control
KW - surgical robot
UR - http://www.scopus.com/inward/record.url?scp=85081701505&partnerID=8YFLogxK
U2 - 10.1109/TIE.2019.2937041
DO - 10.1109/TIE.2019.2937041
M3 - Article
AN - SCOPUS:85081701505
SN - 0278-0046
VL - 67
SP - 6617
EP - 6628
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 8
M1 - 8818660
ER -