Micron: An Actively Stabilized Handheld Tool for Microsurgery

MacLachlan, Robert A.; Becker, Brian C.; Tabarés, Jaime Cuevas; Podnar, Gregg; Lobes, Louis A.; Riviere, Cameron N.

doi:10.1109/tro.2011.2169634

Cited by 226 publications

(210 citation statements)

References 55 publications

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“…16 Another adaptation, the Microhand (consisting of four fingers), was designed to mimic a human hand while being pneumatically controlled, allowing titration of grasping force. 17 The steady-hand manipulator 18,19 and Micron 20 were two independently developed instruments capable of tremor filtration for microsurgical procedures. Japanese collaborators recently created a prototype robotic system designed to aid in vitreoretinal surgery.…”

Section: Discussionmentioning

confidence: 99%

Robot-assisted intraocular surgery: development of the IRISS and feasibility studies in an animal model

Rahimy

Wilson

Tsao

et al. 2013

Eye

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Purpose The aim of this study is to develop a novel robotic surgical platform, the IRISS (Intraocular Robotic Interventional and Surgical System), capable of performing both anterior and posterior segment intraocular surgery, and assess its performance in terms of range of motion, speed of motion, accuracy, and overall capacities. Patients and methods To test the feasibility of performing 'bimanual' intraocular surgical tasks using the IRISS, we defined four steps out of typical anterior (phacoemulsification) and posterior (pars plana vitrectomy (PPV)) segment surgery. Selected phacoemulsification steps included construction of a continuous curvilinear capsulorhexis and cortex removal in infusion-aspiration (I/A) mode. Vitrectomy steps consisted of performing a core PPV, followed by aspiration of the posterior hyaloid with the vitreous cutter to induce a posterior vitreous detachment (PVD) assisted with triamcinolone, and simulation of the microcannulation of a temporal retinal vein. For each evaluation, the duration and the successful completion of the task with or without complications or involuntary events was assessed. Results Intraocular procedures were successfully performed on 16 porcine eyes. Four eyes underwent creation of a round, curvilinear anterior capsulorhexis without radialization. Four eyes had I/A of lens cortical material completed without posterior capsular tear. Four eyes completed 23-gauge PPV followed by successful PVD induction without any complications. Finally, simulation of microcannulation of a temporal retinal vein was successfully achieved in four eyes without any retinal tears/perforations noted. Conclusion Robotic-assisted intraocular surgery with the IRISS may be technically feasible in humans. Further studies are pending to improve this particular surgical platform.

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Section: Discussionmentioning

confidence: 99%

Robot-assisted intraocular surgery: development of the IRISS and feasibility studies in an animal model

Rahimy

Wilson

Tsao

et al. 2013

Eye

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“…Equally as impressive is the Micron, a microsurgical tool that reduces unintentional tremor while preserving eye-hand coordination. Surgeons experienced up to 52% reduction in error in three simple microscopic positioning tests [9].…”

Section: Previous Advancements In Robot-assisted Ophthalmic Surgerymentioning

confidence: 99%

Robotic Eye Surgery: Past, Present, and Future

Pitcher¹

2012

J Comput Sci Syst Biol

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Purpose: To review past attempts, current innovations, and future goals of robotic eye surgery. Methods:A Medline literature search using the words "robot" and "ophthalmology" was performed to identify all relevant literature. Pertinent articles were reviewed and content summarized based on context. Results:Purported potential benefits of robotic-assisted eye surgery include improved precision, reduced tremor, amplified scale of motion, and the potential of automation and telesurgical operation. Several investigators have created devices capable of performing individual intraocular tasks, and efforts are underway to develop platforms designed to allow completion of entire ophthalmic procedures. Conclusion:Although obstacles such as cost and availability exist, prior successes and future benefits of robotic eye surgery are promising reasons for the continuation of research efforts.

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“…In parallel, Riviere, et al has been developing a handheld microsurgical system that has differentiated itself from traditional robotic arm based systems [10][11][12][13][14][15]. The handheld system operates independently without the assistance of external equipment such as a robotic arm by using its own embedded sensors and actuators.…”

Section: Introductionmentioning

confidence: 99%

Accurate real-time depth control for CP-SSOCT distal sensor based handheld microsurgery tools

Cheon

Huang

Cha

et al. 2015

Biomed. Opt. Express

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This paper presents a novel intuitive targeting and tracking scheme that utilizes a common-path swept source optical coherence tomography (CP-SSOCT) distal sensor integrated handheld microsurgical tool. To achieve micron-order precision control, a reliable and accurate OCT distal sensing method is required; simultaneously, a prediction algorithm is necessary to compensate for the system delay associated with the computational, mechanical and electronic latencies. Due to the multilayered structure of retina, it is necessary to develop effective surface detection methods rather than simple peak detection. To achieve this, a shifted cross-correlation method is applied for surface detection in order to increase robustness and accuracy in distal sensing. A predictor based on Kalman filter was implemented for more precise motion compensation. The performance was first evaluated using an established dry phantom consisting of stacked cellophane tape. This was followed by evaluation in an ex-vivo bovine retina model to assess system accuracy and precision. The results demonstrate highly accurate depth targeting with less than 5 μm RMSE depth locking.

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Micron: An Actively Stabilized Handheld Tool for Microsurgery

Cited by 226 publications

References 55 publications

Robot-assisted intraocular surgery: development of the IRISS and feasibility studies in an animal model

Robot-assisted intraocular surgery: development of the IRISS and feasibility studies in an animal model

Robotic Eye Surgery: Past, Present, and Future

Accurate real-time depth control for CP-SSOCT distal sensor based handheld microsurgery tools

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