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Published on: November 14, 2015
Assessment of a hexapod surgical system for robotic micro-macro manipulations in ocular surgery
Jean-Louis Bourges1, Jean-Pierre Hubschman, Jason Wilson
1Department of Ophthalmology, Jules Stein Eye Institute, David Geffen School of Medicine, University of California, Los Angeles, CA, USA. jean-louis.bourges@htd.aphp.fr
Purpose:
Robotic intraocular microsurgery requires a remote center of motion (RCM) at the site of ocular penetration. We designed and tested the Hexapod Surgical System (HSS), a microrobot mounted on the da Vinci macrorobot for intraocular microsurgery.
Material And Methods:
Translations and rotations of the HSS were tested for range of motion and stability. Precision and dexterity were assessed by pointing and inserting a coupled probe into holes of various sizes. The stability of a nonmechanical RCM was quantified. HSS functionalities were observed on porcine eyes.
Results:
The HSS maximal translations were 10 (x and y axes) and 5 cm (z axis). The maximal rotations were 15 and 22° (x and y axes). The precision was within 0.5 mm away from targets in 26/30 tests and maximal in 16/30 tests. The mean translational and rotational stability at the tip of the probe were 1.2 (0.6-1.9) and 1 mm (0-2), respectively. The average dexterity times were 5.2 (4.4-6.5), 7.1 (5.6-10.8) and 12.3 s (7.8-21.7) for 5-, 2- and 1-mm holes, respectively. The RCM was stable (within 0.1 mm). A vitreous cutter coupled to the HSS moved into porcine eyes through a sclerotomy with a stable RCM.
Conclusion:
The HSS provides an RCM dedicated for intraocular robotic surgery with a high level of precision and dexterity. Although it can be further improved, the micro-macro robotic system is a feasible approach for ocular surgery.
