Steady-Hand Eye Robot 3.0: Optimization and Benchtop Evaluation for Subretinal Injection.

Area of Science:

• Ophthalmology
• Robotics
• Biomedical Engineering

Background:

• Current subretinal injection techniques are limited by human motor control, restricting treatment options for many retinal diseases.
• Developing precise robotic systems is crucial for advancing surgical interventions in ophthalmology.

Purpose of the Study:

• To introduce and validate the Steady-Hand Eye Robot (SHER 3.0), a next-generation robotic platform for precise subretinal injections.
• To demonstrate SHER 3.0's capability to achieve clinical standards for targeting accuracy and resolution in retinal procedures.

Main Methods:

• Detailed system design and kinematic analysis of the SHER 3.0 robot.
• Development and validation of a deflection model for the integrated delta stage, optimizing parameters for precision.
• Performance evaluation through five tests measuring accuracy, repeatability, and deflection under load.

Main Results:

• The optimized delta stage design achieved a tip accuracy of less than 30 μm and tip repeatability of 9.3 μm and 0.02°.
• Measured deflections ranged from 20-350 μm/N, indicating high stability and predictability.
• The SHER 3.0 platform meets clinical standards for targeting accuracy and resolution essential for subretinal injections.

Conclusions:

• The SHER 3.0 represents a significant advancement in robotic-assisted eye surgery, overcoming limitations of human dexterity.
• This robotic platform shows great promise for improving the efficacy and accessibility of treatments for severe retinal conditions.
• Future research will focus on refining control models and conducting in vivo testing for clinical translation.