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Veins01:17

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Veins are an integral part of our circulatory system, serving as the blood vessels that transport blood from all body regions to the heart. They are a network of hollow tubes that carry blood low in oxygen from the body's cells back to the heart for reoxygenation. Veins are crucial for maintaining the body's overall fluid balance and the continuous circulation of blood.
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Related Experiment Video

Updated: Jan 28, 2026

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
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Bimanual Robotic Eye Manipulation Using Adaptive Sclera Force Control: Towards Safe Retinal Vein Cannulation.

Mojtaba Esfandiari1, Ji Woong Kim1, Peiyao Zhang1

  • 1Department of Mechanical Engineering and also the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA.

IEEE Transactions on Medical Robotics and Bionics
|January 26, 2026
PubMed
Summary
This summary is machine-generated.

Robot-assisted retinal vein cannulation uses a novel bimanual adaptive cooperative control framework. This system minimizes tool-sclera forces, enhancing patient safety during delicate eye surgery.

Keywords:
Robotic retinal surgeryadaptive sclera force controlbimanual manipulationretinal vein cannulation

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Area of Science:

  • Ophthalmology
  • Robotics
  • Surgical Technology

Background:

  • Retinal vein cannulation (RVC) is a complex microsurgery requiring precise bimanual instrument control.
  • Hand tremors pose a significant challenge in freehand RVC due to the small size of retinal vessels.
  • Robot-assisted surgery offers enhanced precision and tremor reduction for RVC.

Purpose of the Study:

  • To develop and validate a novel bimanual adaptive cooperative (BMAC) control framework for robot-assisted retinal surgery.
  • To ensure patient safety by minimizing scleral interaction forces during bimanual robot manipulation.
  • To overcome limitations of traditional kinematics-based control and robot registration.

Main Methods:

  • Implemented a BMAC control framework with independent robot control.
  • Utilized a hybrid adaptive position-force control algorithm for each robot.
  • Employed fiber Bragg grating-based force-sensing surgical instruments for precise force monitoring.
  • Validated the system through a pilot study with five users on an eye phantom.

Main Results:

  • The BMAC framework successfully minimized tool-sclera interaction forces.
  • Scleral forces were maintained within a safe threshold, preventing over-stretching.
  • The system demonstrated effectiveness in a vessel-following experiment on an eye phantom.
  • Pilot study participants successfully performed the task under surgical microscope visualization.

Conclusions:

  • The developed BMAC control framework enhances safety in robot-assisted retinal vein cannulation.
  • This approach effectively manages scleral interaction forces without traditional RCM constraints or registration.
  • The system shows promise for improving precision and safety in challenging ophthalmic microsurgeries.