Wang, Ning;
Zhang, Xiaodong;
Li, Mingyang;
Zhang, Hongbing;
Stoyanov, Danail;
Stilli, Agostino;
(2022)
A 5-DOFs Robot for Posterior Segment Eye Microsurgery.
IEEE Robotics and Automation Letters
, 7
(4)
pp. 10128-10135.
10.1109/lra.2022.3191796.
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Abstract
In retinal surgery clinicians access the internal volume of the eyeball through small scale trocar ports, typically 0.65 mm in diameter, to treat vitreoretinal disorders like idiopathic epiretinal membrane and age-related macular holes. The treatment of these conditions involves the removal of thin layers of diseased tissue, namely the epiretinal membrane and the internal limiting membrane. These membranes have an average thickness of only 60 μm and 2 μm respectively making extremely challenging even for expert clinicians to peel without damaging the surrounding tissue. In this work we present a novel Ophthalmic microsurgery Robot (OmSR) designed to operate a standard surgical forceps used in these procedures with micrometric precision, overcoming the limitations of current robotic systems associated with the offsetting of the remote centre of motion of the end effector when accessing the sclera. The design of the proposed system is presented, and its performance evaluated. The results show that the end effector can be controlled with an accuracy of less than 30 μm and the surgical forceps opening and closing positional error is less than 4.3 μm. Trajectory-following experiments and membrane peeling experiments are also presented, showing promising results in both scenarios.
| Type: | Article |
|---|---|
| Title: | A 5-DOFs Robot for Posterior Segment Eye Microsurgery |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/lra.2022.3191796 |
| Publisher version: | https://doi.org/10.1109/LRA.2022.3191796 |
| Language: | English |
| Additional information: | This research was funded in whole, or in part, by the Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) [203145/Z/16/Z]; the Engineering and Physical Sciences Research Council (EPSRC) [EP/P027938/1, EP/R004080/1, EP/P012841/1]; the Royal Academy of Engineering Chair in Emerging Technologies Scheme [CiET1819/2/36]. For the purpose of open access, the authors have applied a CC BY public copyright licence to any author accepted manuscript version arising from this submission. |
| UCL classification: | UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng UCL > Provost and Vice Provost Offices > UCL BEAMS UCL UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10154048 |
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