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Related Experiment Video

Updated: May 28, 2026

Using Q Suture to Enhance Resistance to Gap Formation and Tensile Strength of Repaired Flexor Tendons
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Insertion force in manual and robotic corneal suturing.

Yang Yang1, Cunliang Xu, Shijing Deng

  • 1School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing, People's Republic of China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|October 12, 2011
PubMed
Summary

Robotic corneal suturing offers more stable procedures with less tissue invasion compared to manual methods. A novel force measurement system confirms robotic advantages in insertion force and torque control for ophthalmic microsurgery.

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Area of Science:

  • Ophthalmic Microsurgery
  • Robotics in Medicine
  • Biomechanical Engineering

Background:

  • Corneal grafting microsurgery presents distinct challenges between manual and robotic suturing techniques.
  • Accurate measurement of insertion force and torque is crucial for successful corneal tissue suturing.

Purpose of the Study:

  • To develop and validate a force measurement system for evaluating corneal tissue insertion during suturing.
  • To compare the biomechanical performance of manual versus robotic corneal suturing.

Main Methods:

  • A force measurement system was developed using porcine corneas, a corneal-suturing robot, and a force transducer.
  • Data acquisition and D-H coordinate transformation were used to analyze force values in needle coordinate frames.
  • A novel performance evaluation index, M(dmax), was proposed and utilized.

Main Results:

  • Robotic suturing demonstrated more stable needle insertion compared to manual suturing.
  • Maximal resultant force was slightly smaller in robotic suturing, while maximal tangent force was marginally larger.
  • The proposed performance index M(dmax) was significantly lower in robotic suturing, indicating reduced torque.

Conclusions:

  • The developed force measurement system is effective for evaluating corneal suturing biomechanics.
  • Robotic suturing offers advantages over manual methods, including enhanced stability, reduced distortion torque, and less corneal tissue invasion.
  • Robotic suturing is a practical and beneficial approach for minimally invasive ophthalmic surgery.