Robotic surgery, vitreoretinal surgery

Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabilities to perform these surgeries. This research investigates the comparative performance of a serial and parallel cooperative-controlled robot in completing a retinal vessel-following task, with a focus on human-robot interaction performance and user experience. Our results indicate that despite differences in robot structure and interaction forces and torques, the two robots exhibited similar levels of performance in terms of general robot-to-patient interaction and average operating time...

OBJECTIVE: To review recent technological advancement in imaging, surgical visualization, robotics technology and the use of artificial intelligence in surgical vitreoretinal (VR) diseases. BACKGROUND: Technological advancements in imaging enhance both pre-operative and intra-operative management of surgical VR diseases. Widefield imaging in fundal photography and optical coherence tomography (OCT) can improve assessment of peripheral retinal disorders like retinal detachments, degeneration, and tumors...

The field of robotic microsurgery and micro-manipulation has undergone a profound evolution in recent years, particularly with regard to the accuracy, precision, versatility, and dexterity. These advancements have the potential to revolutionize high-precision biomedical procedures, such as neurosurgery, vitreoretinal surgery, and cell micro-manipulation. However, a critical challenge in developing micron-precision robotic systems is accurately verifying the end-effector motion in 3D. Such verification is complicated due to environmental vibrations, inaccuracy of mechanical assembly, and other physical uncertainties...

The purpose of this study is to compare robot-assisted and manual subretinal injections in terms of successful subretinal blistering, reflux incidences and damage of the retinal pigment epithelium (RPE). Subretinal injection was simulated on 84 ex-vivo porcine eyes with half of the interventions being carried out manually and the other half by controlling a custom-built robot in a master-slave fashion. After pars plana vitrectomy (PPV), the retinal target spot was determined under a LUMERA 700 microscope with microscope-integrated intraoperative optical coherence tomography (iOCT) RESCAN 700 (Carl Zeiss Meditec, Germany)...

Three-Dimensional (3D) heads-up visualization systems have significantly advanced vitreoretinal surgery, providing enhanced detail and improved ergonomics. This review discusses the application of 3D systems in vitreoretinal surgery, their use in various procedures, their combination with other imaging modalities, and the role of this technology in medical education and telementoring. Furthermore, the review highlights the benefits of 3D systems, such as improved ergonomics, reduced phototoxicity, enhanced depth of field, and the use of color filters...

BACKGROUND: Subretinal 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. METHODS: This 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...

INTRODUCTION: Recent technologies and new devices continue to be developed in vitreoretinal surgeries, and they provide more details, enhance safety, improve surgeons' comfort, and better visual and anatomical outcomes. Some devices have been used for better visualization during surgery, and some help the operation performance. They are divided into the following titles: Intraoperative OCT (including hand-held, probe-integrated, and microscope-integrated OCT), three-dimensional visualization system, virtual reality system, endoscopic vitrectomy (fiber optics and non-fiber optics), wide-angle viewing systems (contact and non-contact lenses), endo-illumination, light filters, chromovitrectomy, the retinal prosthesis (including epiretinal, subretinal, and suprachoroidal devices), robot-assisted vitreoretinal surgery, newer Vitreoretinal instruments, gene and cell therapy...

PURPOSE: Robot-assisted vitreoretinal surgery provides precise and consistent operations on the back of the eye. To perform this safely, knowledge of the surgical instrument's remote centre of motion (RCM) and the location of the insertion point into the eye (trocar) is required. This enables the robot to align both positions to pivot the instrument about the trocar, thus preventing any damaging lateral forces from being exerted. METHODS: Building on a system developed in previous work, this study presents a trocar localisation method that uses a micro-camera mounted on a vitreoretinal surgical forceps, to track two ArUco markers attached on either side of a trocar...

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PURPOSE: The Preceyes Surgical System (PSS) is a robotic assistive device that may enhance surgical precision. This study assessed pre- and intra-operative times and surgeons' perceptions of robot-assisted epiretinal membrane peeling (RA-MP). METHODS: We analyzed the time requirement of three main tasks: the preparation of the PSS (I), patient preparation (II), and surgery (III). Following surgery, the surgeons were asked questions about their experience. RESULTS: RA-MP was performed in nine eyes of nine patients...

Intraocular surgery, one of the most challenging discipline of microsurgery, requires sensory and motor skills at the limits of human physiological capabilities combined with tremendously difficult requirements for accuracy and steadiness. Nowadays, robotics combined with advanced imaging has opened conspicuous and significant directions in advancing the field of intraocular microsurgery. Having patient treatment with greater safety and efficiency as the final goal, similar to other medical applications, robotics has a real potential to fundamentally change microsurgery by combining human strengths with computer and sensor-based technology in an information-driven environment...

BACKGROUND: Progress in the field of surgical robotics has the potential to allow surgeons to reduce the limitations of human hands and has substantially improved the dexterity and accuracy of surgery. This study aimed to compare robot-assisted vitreoretinal surgery with manual surgery in a simulated setting involving donor porcine eyes. METHODS: A randomized controlled trial was conducted involving 10 experienced vitreoretinal experts and 10 residents. Participants were randomized to start with either manual or robot-assisted surgery (n=5 in each group)...

Purpose: To assess the efficacy of an instrument-integrated OCT (iiOCT)-based distance sensor during robotic vitreoretinal surgery using the Preceyes Surgical System (PSS; Preceyes B.V.). Design: Single-center interventional study. Participants: Patients requiring vitreoretinal surgery. Methods: Five patients were enrolled. Standard preoperative OCT images were obtained. After vitrectomy, a predefined set of actions was performed using the iiOCT-based sensor...

Vitreoretinal surgery requires dexterity and force sensitivity from the clinician. A system to cooperatively control an integrated surgical robot for high dexterity manipulation within the eye's vitreous space was developed and validated in simulation. The system is composed of a 2 degrees of freedom (DoF) snake-like continuum manipulator that is attached to the end-effector of a 5-DoF rigid robot arm. It is capable of receiving position and orientation commands from a 5-DoF input device in real-time, as well as following pre-planned trajectories...

BACKGROUND: The aim was to explore the feasibility and safety of performing common surgical steps in epiretinal membrane (ERM) peeling using the Preceyes Surgical System (PSS). METHODS: In a tertiary center, fifteen pseudophakic patients with an idiopathic ERM were randomized to robot-assistance or manual surgery in a 2:1 ratio. In the robot-assisted group, the following steps were performed using PSS: 1) staining the internal limiting membrane (ILM), 2) removal of the dye, 3) creating an ILM flap, 4) completing the peeling, 5) holding a light pipe, and 6) fluid -air exchange...

In recent years, robotic assistance in vitreoretinal surgery has moved from a benchtop environment to the operating rooms. Emerging robotic systems improve tool manoeuvrability and provide precise tool motions in a constrained intraocular environment and reduce/remove hand tremor. However, often due to their stiff and bulky mechanical structure, they diminish the perception of tool-to-sclera (scleral) forces, on which the surgeon relies, for eyeball manipulation. In this paper we measure these scleral forces and actively control the robot to keep them under a predefined threshold...

PURPOSE: Intra-retinal delivery of novel sight-restoring therapies will require the precision of robotic systems accompanied by excellent visualisation of retinal layers. Intra-operative Optical Coherence Tomography (iOCT) provides cross-sectional retinal images in real time but at the cost of image quality that is insufficient for intra-retinal therapy delivery.This paper proposes a super-resolution methodology that improves iOCT image quality leveraging spatiotemporal consistency of incoming iOCT video streams...

Cooperative robotic systems for vitreoretinal surgery can enable novel surgical approaches by allowing the surgeon to perform procedures with enhanced stabilization and high accuracy tool movements. This paper presents the optimization and design of a four-bar linkage type tilt mechanism for a novel Steady-Hand Eye Robot (SHER) which can be used equivalently on both, the left and right patient side, during a bilateral approach with two robots. In this optimization, it is desirable to limit the workspace needed for compensation motions that ensure a virtual remote center of motion (V-RCM)...

Precise motion control is important in robotic surgery, especially corneal surgery. This paper develops a new tension-measurement system for forceps used in corneal surgery, wherein contact force is applied only to a specific location for precise control, with precise movements detected by attaching a nano-crack sensor to the corresponding part. The nano-crack sensor used here customizes the working range and sensor sensitivity to match the strain rate of the tip of the forceps. Therefore, the tension in the suture can be sufficiently measured even at suture failure...

PURPOSE: To report the results of a first-in-human study using a robotic device to assist subretinal drug delivery in patients undergoing vitreoretinal surgery for macular hemorrhage. DESIGN: Double-armed, randomized controlled surgical trial (ClinicalTrials.gov identifier: NCT03052881). METHODS: The study was performed at the Oxford Eye Hospital, Oxford University Hospitals NHS Foundation Trust, Oxford, United Kingdom. In total, 12 participants were recruited-6 in the robot-assisted and 6 in the control manual surgery arm according to the prespecified inclusion and exclusion criteria...