A parallel robot to assist vitreoretinal surgery

Nakano, Taku; Sugita, Naohiko; Ueta, Takashi; Tamaki, Yasuhiro; Mitsuishi, Mamoru

doi:10.1007/s11548-009-0374-2

Cited by 82 publications

(57 citation statements)

References 18 publications

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“…Vitreoretinal surgery is a conventional ophthalmic operation consisting of complex manual tasks, as shown in Figure 1. The incisions, created by keratome and trocar at the sclera in a circle and 3.5 mm away from the limbus [2], are made to provide the entrance for three tools: light source, surgical tool, and irrigation cannula [3,4]. The irrigation cannula is used for liquid injection to maintain appropriate intraocular pressure (IOP).…”

Section: Introductionmentioning

confidence: 99%

Needle Segmentation in Volumetric Optical Coherence Tomography Images for Ophthalmic Microsurgery

et al. 2017

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Needle segmentation is a fundamental step for needle reconstruction and image-guided surgery. Although there has been success stories in needle segmentation for non-microsurgeries, the methods cannot be directly extended to ophthalmic surgery due to the challenges bounded to required spatial resolution. As the ophthalmic surgery is performed by finer and smaller surgical instruments in micro-structural anatomies, specifically in retinal domains, difficulties are raised for delicate operation and sensitive perception. To address these challenges, in this paper we investigate needle segmentation in ophthalmic operation on 60 Optical Coherence Tomography (OCT) cubes captured during needle injection surgeries on ex-vivo pig eyes. Furthermore, we developed two different approaches, a conventional method based on morphological features (MF) and a specifically designed full convolution neural networks (FCN) method, moreover, we evaluate them on the benchmark for needle segmentation in the volumetric OCT images. The experimental results show that FCN method has a better segmentation performance based on four evaluation metrics while MF method has a short inference time, which provides valuable reference for future works.

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Section: Introductionmentioning

confidence: 99%

Needle Segmentation in Volumetric Optical Coherence Tomography Images for Ophthalmic Microsurgery

et al. 2017

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“…Guerrouad and Jolly introduced one of the first ocular robotics systems in 1989, the "stereotaxical micromanipulator (SMOS)", which was a spherical micromanipulator mounted on a 3D stage to allow 6 Degrees Of Freedom (DOF) motion [5]. In 1997 [6]. Riviere group's approach is a hand-held surgical tool with the ability of active tremor cancellation [9].…”

Section: Introductionmentioning

confidence: 99%

The introduction of a new robot for assistance in ophthalmic surgery

Nasseri

Eder

Nair

et al. 2013

2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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Abstract-This paper introduces the design and development of a new robotic system to assist surgeons performing ophthalmic surgeries. The robot itself is very compact and similar to an average human hand in size. Its primary application is intraocular micromanipulation in order to overcome the existing challenges in treatment of diseases like Retinal Vein Occlusion (RVO). The novel hybrid mechanism designed for this robot allows microscale motions and is stable in the presence of vibrations common in operation room (OR). The robotic system can be easily integrated into standard operation rooms and does not require modification of conventional surgical tools. This compact microsurgical system is suitable for mounting on the patient's head and thereby, solves the problem of patient motion. The compatibility of the robotic system with a real world surgical setup was evaluated and confirmed in this work.

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“…ability to manipulate loads greater than its own weight, high rigidity and very low weight or high speeds of operation [12]. Currently you can find applications of parallel surgical robots like vitreous retinal [13], neurosurgery [14], minimally invasive neurosurgery [15], bone drilling [ 16] or laparoscopic surgery [17].…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis of a novel 2-d.o.f. orientation device

Serracín¹,

Puglisi

Saltarén

et al. 2012

Robotics and Autonomous Systems

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This paper presents the development of a new parallel robot designed for helping with bone milling surgeries. The robot is a small modular wrist with 2 active degrees of freedom, and it is proposed to be used as an orientation device located at the end of a robotic arm designed for bone milling processes. A generic 2UPS-1S kinematic geometry is proposed for this device. This first article shows the developments on the workspace optimization and the analysis of the force field required to complete a reconstruction of the inferior jawbone. The singularities of the mechanism are analyzed, and the actuator selection is justified with the torque requirements and the study of the force space. The results obtained by the simulations allow building a first prototype using linear motors. Bone milling experiment video is shown as additional material.

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A parallel robot to assist vitreoretinal surgery

Abstract: This microsurgical system that we have developed has superior operability as compared to traditional manual procedure and has sufficient potential to be used clinically for vitreoretinal surgery.

Cited by 82 publications

References 18 publications

Needle Segmentation in Volumetric Optical Coherence Tomography Images for Ophthalmic Microsurgery

Needle Segmentation in Volumetric Optical Coherence Tomography Images for Ophthalmic Microsurgery

The introduction of a new robot for assistance in ophthalmic surgery

Kinematic analysis of a novel 2-d.o.f. orientation device

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