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Structured-Light-Based Robotic System with Pre-Fixation for Automated Intravitreal Injection
IEEE Transactions on Bio-Medical Engineering
|March 10, 2026
Summary
This study introduces an automated intravitreal injection (IVI) robotic system, achieving clinically acceptable accuracy and safety. The novel A-IVI system enhances efficiency and standardizes the procedure for ophthalmic treatments.
Area of Science:
- Ophthalmology
- Robotics
- Medical Engineering
Background:
- Manual intravitreal injection (IVI) is crucial for ophthalmic diseases but requires high skill, limiting efficiency and standardization.
- Current manual IVI procedures present challenges in precision, consistency, and surgeon workload.
Purpose of the Study:
- To develop and evaluate an automated IVI (A-IVI) robotic system.
- To enhance the accuracy, efficiency, and safety of the IVI procedure through automation.
Main Methods:
- A custom-designed compact injection robot, structured-light camera, and robotic arm were integrated.
- Optimal injection poses were determined using point clouds from a vision sensor.
- A compliance-controlled fixture and motion-planning strategy ensured safe eyeball pre-fixation and flexible needle puncture.
Main Results:
- Experiments on eye phantoms and porcine eyes demonstrated mean execution times of 38.3s and 40.8s.
- Puncture accuracy was achieved within 3.79±0.31mm and 3.68±0.83mm.
- Compliant interaction forces ranged from 0.18-1.15 N, within clinically acceptable limits.
Conclusions:
- The A-IVI robotic system provides clinically acceptable accuracy and safe interaction forces.
- This system reduces variability, standardizes the IVI procedure, and shows potential for improved efficiency and reduced surgeon workload.
- This marks the first use of structured-light measurement for automated, precise, and safe IVI.
