Retinal vessel cannulation with an image-guided handheld robot
Conference Paper, Proceedings of 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '10), pp. 5420 - 5423, September, 2010
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.
BibTeX
@conference{Becker-2010-10534,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 = {Proceedings of 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '10)},
year = {2010},
month = {September},
pages = {5420 - 5423},
keywords = {medical robotics, surgery, retina, active noise control, accuracy},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.