Towards Robotic-Assisted Subretinal Injection: A Hybrid Parallel-Serial Robot System Design and Preliminary Evaluation

Zhou M, Yu Q, Huang K, Mahov S, Eslami A, Maier M, Lohmann CP, Navab N, Zapp D, Knoll A, Nasseri MA (2020)

Publication Type: Journal article

Publication year: 2020

Journal

IEEE Transactions on Industrial Electronics Institute of Electrical and Electronics Engineers (IEEE)

Book Volume: 67

Pages Range: 6617-6628

Article Number: 8818660

Journal Issue: 8

DOI: 10.1109/TIE.2019.2937041

Abstract

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.

Involved external institutions

Technische Universität München (TUM) DE Germany (DE) Sun Yat-Sen University CN China (CN) Carl Zeiss Meditec AG DE Germany (DE)

How to cite

APA:

Zhou, M., Yu, Q., Huang, K., Mahov, S., Eslami, A., Maier, M.,... Nasseri, M.A. (2020). Towards Robotic-Assisted Subretinal Injection: A Hybrid Parallel-Serial Robot System Design and Preliminary Evaluation. IEEE Transactions on Industrial Electronics, 67(8), 6617-6628. https://doi.org/10.1109/TIE.2019.2937041

MLA:

Zhou, Mingchuan, et al. "Towards Robotic-Assisted Subretinal Injection: A Hybrid Parallel-Serial Robot System Design and Preliminary Evaluation." IEEE Transactions on Industrial Electronics 67.8 (2020): 6617-6628.

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