Microsurgical robotic system for vitreoretinal surgery

Ida, Yoshiki; Sugita, Naohiko; Ueta, Takashi; Tamaki, Yasuhiro; Tanimoto, Keiji; Mitsuishi, Mamoru

doi:10.1007/s11548-011-0602-4

Cited by 61 publications

(42 citation statements)

References 20 publications

(19 reference statements)

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“…Among the intraocular surgeries, sophisticated vitreoretinal procedures such as the peeling of the internal limiting membrane (ILM) or retinal vessel cannulation require the highest level of dexterity and accuracy, and desired positioning accuracy was considered approximately 10 µm [6] while the average amplitude of hand tremors is considered approximately 100 µm [7], which indicates that vitreoretinal surgery can be a good target of application for robotic surgery. In fact, enforcing the precision of vitreoretinal surgery by telerobotic system has been pursued [5], [8]–[13]. At first, removal of 0.015 inch diameter particle from a simulated eyeball was reported in 1997 [9].…”

Section: Introductionmentioning

confidence: 99%

Impact of Robotic Assistance on Precision of Vitreoretinal Surgical Procedures

et al. 2013

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PurposeTo elucidate the merits of robotic application for vitreoretinal maneuver in comparison to conventional manual performance using an in-vitro eye model constructed for the present study.MethodsCapability to accurately approach the target on the fundus, to stabilize the manipulator tip just above the fundus, and to perceive the contact of the manipulator tip with the fundus were tested. The accuracies were compared between the robotic and manual control, as well as between ophthalmologists and engineering students.ResultsIn case of manual control, ophthalmologists were superior to engineering students in all the 3 test procedures. Robotic assistance significantly improved accuracy of all the test procedures performed by engineering students. For the ophthalmologists including a specialist of vitreoretinal surgery, robotic assistance enhanced the accuracy in the stabilization of manipulator tip (from 90.9 µm to 14.9 µm, P = 0.0006) and the perception of contact with the fundus (from 20.0 mN to 7.84 mN, P = 0.046), while robotic assistance did not improve pointing accuracy.ConclusionsIt was confirmed that telerobotic assistance has a potential to significantly improve precision in vitreoretinal procedures in both experienced and inexperienced hands.

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Section: Introductionmentioning

confidence: 99%

Impact of Robotic Assistance on Precision of Vitreoretinal Surgical Procedures

et al. 2013

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“…Then, we operated a master-slave system with the proposed and conventional methods, and the trajectory of the robot was evaluated in the same way. We used a master-slave surgical robot system [11,12] for these experiments, and two manipulators were connected through the UDP protocol. The entire setup is shown in Fig.…”

Section: A Experimental Setupmentioning

confidence: 99%

Minimum-jerk trajectory generation for master-slave robotic system

Tanaka

Baek

Sugita

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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This paper describes a trajectory generation method for a master-slave surgical robotic system. Because the data from the master system is intermittent due the limited master-slave communication rate, interpolation is required to achieve smooth motion of the slave robot. In particular, real-time interpolation is crucial for surgical systems. To cope with this problem, we propose a new smooth trajectory generation method by minimizing jerk using a quintic B-spline. To ensure the third-order continuity in position, velocity, and acceleration, the trajectory of the next time segment is generated using several fictive control points. In addition, we impose a minimum jerk constraint to obtain a smooth trajectory. The proposed method was tested and compared with a conventional trajectory generation method. The experimental results showed that the proposed method generated a smoother trajectory with fewer jerks to an extent that the method is sufficient for use in real-time control of a surgical robotic system. I. INTRODUCTIONaster-slave robotic systems have been widely studied in the field of surgical robotics [1] because they are superior to manual operation in terms of accuracy, dexterity, and repeatability. A master-slave robotic system is composed of two separated robotic systems: a master and a slave. The operator's motion is measured using master manipulators, and the slave manipulators replicate the motion. This configuration enables motion scaling and teleoperation, and thus, it can benefit robotic surgery.However, trajectory generation for the slave control is not simple, because the continuity and consistency of the master-slave communication cannot be ensured. It often happens that the communication rate is slower than the servo rate of the slave robotic system, causing intermittent commands to the slave system. This is a critical issue, particularly for surgical applications. For this reason, a trajectory generation method interpolating input commands is required to generate a smooth trajectory for the slave system.There are some constraints in trajectory generation for a master-slave robotic system. First, the target trajectory cannot be predetermined. The interpolation of the commands must be Manuscript

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“…Among these systems are the teleoperated microsurgical robotic system from the University of Tokyo [7], and the Johns Hopkins Steady Hand [8], which shares control between the surgeon and a rigid robotic arm in order to reduce tremor and provide more accurate positioning for the surgeon. To minimize cost and maximize the natural feel of instrument usage, our laboratory has developed Micron [9], a fully handheld micromanipulator which is discussed further in Section II.B.…”

Section: Introductionmentioning

confidence: 99%

Toward hybrid position/force control for an active handheld micromanipulator

Wells

MacLachlan

Riviere

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Vitreoretinal microsurgery requires precise hand-eye coordination to manipulate delicate structures within the eye on the order of tens of microns. To achieve these tasks, surgeons use tools of diameter 0.9 mm or less to access the eye’s interior structures. The level of force required during these manipulations is often below the human tactile threshold, requiring the surgeon to rely on subtle visual cues or to apply larger forces above the tactile threshold for feedback. However, both of these methods can lead to tissue damage. Excursions can be made into tissues which are not felt by the surgeon, while larger forces have a higher chance of damaging tissue within the eye. To prevent damage to the retina and other anatomy, we present the implementation of hybrid position/force control operating in the sub-tactile force range for a handheld robotic system. This approach resulted in a 42% reduction in the mean force and 52% reduction in maximum force during peeling tasks.

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Microsurgical robotic system for vitreoretinal surgery

Abstract: This microsurgical robotic vitreoretinal surgical system showed superior operability compared with a traditional manual procedure, and it demonstrated sufficient potential to warrant further testing in animal trials to assess its clinical feasibility.

Cited by 61 publications

References 20 publications

Impact of Robotic Assistance on Precision of Vitreoretinal Surgical Procedures

Impact of Robotic Assistance on Precision of Vitreoretinal Surgical Procedures

Minimum-jerk trajectory generation for master-slave robotic system

Toward hybrid position/force control for an active handheld micromanipulator

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