The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

Cannulation of small retinal vessels is often prohibitively difficult for surgeons, since physiological tremor often exceeds the narrow diameter of the vessel (40-150 μm). Using an active handheld micromanipulator, we introduce an image-guided robotic system that reduces tremor and provides smooth, scaled motion during the procedure. By tracking the workspace viewed under the microscope, the micromanipulator assists during the approach, puncture, and injection of the procedure. In experiments performed ex vivo by an experienced retinal surgeon on 40-60 μm vessels in porcine eyes, the success rate was 29% (2/7) without the aid of the system and 63% (5/8) with the aid of the system.

Keywords

medical robotics, surgery, retina, active noise control, accuracy

Notes

Sponsor: National Institutes of Health

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Associated Project(s): Micron: Intelligent Microsurgical Instruments

Text Reference

Brian Becker, Sandrine Voros, Louis A. Lobes Jr., James T. Handa, Gregory D. Hager, and Cameron Riviere, "Retinal vessel cannulation with an image-guided handheld robot," Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, September, 2010, pp. 5420-5423.

BibTeX Reference

@inproceedings{Becker_2010_6702,
   author = "Brian Becker and Sandrine Voros and Louis A. Lobes Jr. and James T. Handa and Gregory D. Hager and Cameron Riviere",
   title = "Retinal vessel cannulation with an image-guided handheld robot",
   booktitle = "Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "5420-5423",
   month = "September",
   year = "2010",
}

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