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The selection of a drug's delivery route depends upon its physicochemical properties, including lipid or water solubility and ionization, as well as the therapeutic requirement, such as immediate or sustained effect. These routes can be divided into three primary categories: enteral, parenteral, and topical.
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Related Experiment Video

Updated: Jul 9, 2026

Performing Subretinal Injections in Rodents to Deliver Retinal Pigment Epithelium Cells in Suspension

Performing Subretinal Injections in Rodents to Deliver Retinal Pigment Epithelium Cells in Suspension

Published on: January 23, 2015

Exploring An External Approach to Subretinal Drug Delivery via Robot Assistance and B-Mode OCT.

Elan Z Ahronovich¹, Neel Shihora¹, Jin-Hui Shen²

¹Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA.

IEEE International Conference on Robotics and Automation : ICRA : [Proceedings]. IEEE International Conference on Robotics and Automation

|September 22, 2025

Summary

This study presents a novel robotic system for robot-assisted extraocular subretinal injections, offering a feasible alternative to traditional methods for precise retinal drug delivery.

Keywords:

OCT Serial robots cooperative control kinematics

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Area of Science:

Ophthalmology
Robotics
Biomedical Engineering

Background:

Accurate subretinal injections are challenging due to limitations in surgical perception and accuracy.
The advancement of gene therapies necessitates improved localized drug delivery methods for retinal diseases.

Purpose of the Study:

To demonstrate the feasibility of an external approach for subretinal injections.
To present a cooperative robotic system for robot-assisted extraocular subretinal injections.

Main Methods:

Design and implementation of a cooperative robotic system with a distal micromanipulator.
Utilizing Optical Coherence Tomography (OCT) for guided injections.
Development and experimental evaluation of robot kinematics and control for safe needle insertion.

Main Results:

The proposed external approach for subretinal injections is demonstrated as feasible.
The cooperative robotic system enables precise and safe needle delivery into the subretinal space.
Successful experimental evaluation of the robotic system's control for constrained motions.

Conclusions:

The external robotic approach offers a viable alternative to transvitreal injections for subretinal drug delivery.
This method preserves retinal integrity and eliminates the need for vitrectomy.
The developed system advances localized drug delivery for retinal therapies.