Related Experiment Video
Updated: Nov 20, 2025
04:16
Intraoperative Visualization of Subretinal Injection and Retinal Detachment in Rats
Published on: March 7, 2025
741
Admittance Control for Robot Assisted Retinal Vein Micro-Cannulation under Human-Robot Collaborative Mode
He Zhang1,2, Berk Gonenc2, Iulian Iordachita2
1State Key State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, P. R. China.
ICCAS ... : International Conference on Control, Automation, and Systems. International Conference on Control, Automation, and Systems
|April 3, 2018
Summary
Robotic systems enhance retinal vein cannulation, a complex treatment for retinovascular diseases. This human-robot collaboration improves procedure stability and accuracy, aiding physicians in delicate interventions.
Area of Science:
- Ophthalmology
- Medical Robotics
- Biomedical Engineering
Background:
- Retinal vein occlusion is a prevalent retinovascular disease.
- Retinal vein cannulation offers a promising treatment but is technically demanding.
- Current procedures are limited by human dexterity and precision.
Purpose of the Study:
- To develop a robotic system for assisting retinal vein cannulation.
- To enhance the precision and stability of the cannulation procedure.
- To enable a human-robot collaborative approach for improved outcomes.
Main Methods:
- Utilized the Steady-Hand Eye Robot and force-sensing instruments.
- Implemented an admittance control method for cannula stabilization.
- Employed a pre-stress strategy to maintain microneedle position during prolonged infusions.
Main Results:
- Simulations demonstrated the effectiveness of the robotic system.
- Admittance control successfully stabilized the cannula within the retinal vein lumen.
- The pre-stress strategy prevented microneedle dislodgement during simulated infusions.
Conclusions:
- Robotic assistance and human-robot collaboration can overcome the challenges of retinal vein cannulation.
- The developed system shows potential for improving treatment efficacy for retinovascular diseases.
- Advanced instrumentation and control strategies are crucial for delicate intraocular procedures.
