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Monocular Vision-Based Retinal Membrane Peeling With a Handheld Robot.

Yuqiao Han1, Arpita Routray2, Jennifer O Adeghate3

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Summary

This study introduces a robotic system with virtual fixtures to enhance surgical precision during retinal membrane peeling. The technology reduces unintended forces and movements, minimizing potential injury to the retina.

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Area of Science:

  • Ophthalmology
  • Robotics
  • Surgical Technology

Background:

  • Retinal membrane peeling is a complex microsurgical procedure demanding high precision.
  • Surgeon's tremor, variable image quality, and excessive forces increase the risk of retinal injury.
  • Minimizing unintended movements is crucial for preventing iatrogenic damage during surgery.

Purpose of the Study:

  • To develop and evaluate an actively stabilized robotic system with virtual fixtures for retinal membrane peeling.
  • To improve surgeon's control over the tool tip and reduce forces exerted on the retina.
  • To mitigate risks associated with physiological tremor and suboptimal imaging in ophthalmic surgery.

Main Methods:

  • Utilized an actively stabilized handheld robot equipped with a monocular camera.
  • Implemented a surface reconstruction method to estimate the retinal plane.
  • Introduced virtual fixtures, including a hard stop and motion scaling, for enhanced tool-tip control during simulated retinal membrane peeling.

Main Results:

  • Demonstrated a significant reduction in maximum downward force exerted on the retinal surface.
  • Showcased a decrease in the maximum surface-penetration distance from the estimated retinal plane.
  • Validated the effectiveness of the virtual fixture system in improving control during simulated delamination tasks.

Conclusions:

  • The proposed actively stabilized robotic system with virtual fixtures effectively enhances control during retinal membrane peeling.
  • Hard stops and motion scaling are valuable virtual fixture components for reducing operative forces and improving safety.
  • This technology holds promise for reducing iatrogenic injury in delicate ophthalmic surgical procedures.