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Related Experiment Video

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Structured-Light-Based Robotic System with Pre-Fixation for Automated Intravitreal Injection.

Yuming Meng, Bin Li, Xiaoman Wang

    IEEE Transactions on Bio-Medical Engineering
    |March 10, 2026
    PubMed
    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.

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    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.