Comparison of robot-assisted and manual retinal vessel microcannulation in an animal model
Comparison of robot-assisted and manual retinal vessel microcannulation in an animal model
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DOI：
10.1136/bjo.2010.193391
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发表时间：
2011-05-01
影响因子：
4.1
通讯作者：
Tamaki, Yasuhiro
中科院分区：
文献类型：
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作者：
Ueta, Takashi;Nakano, Taiga;Tamaki, Yasuhiro
目的评价并联机器人系统的性能与传统的手动程序使用animal model.Methods的比较，一个新的并联机器人系统的特点是一个小的圆柱形机械手（底座直径76 mm，高度240 mm）。评价了新系统辅助视网膜血管微插管的性能。测试方案如下：（1）通过睫状体平坦部处的20 G巩膜端口将微插管引入到采集的猪眼中，所述猪眼松散地附接在人造面部模型的眶窝上;（2）对视网膜血管（内径60-80 μ m）插管;以及（3）将吲哚菁绿色染料血管内注射到眼睛中。通过与传统手动procedure.Results相比，机器人系统的成功率和手术质量进行了评估，视网膜血管微插管和染料注射由机器人系统实现了两次在4次尝试中，和由传统的手动程序要么根本没有或不完全在所有6次尝试。染料泄漏没有观察到与机器人系统，表明微插管是微创的;相反，染料泄漏总是观察到与手动procedure.Conclusions新的系统是更准确的比传统的手动程序的猪眼模型上的测试。
Aim To evaluate the performance of a parallel robotic system by comparison with the conventional manual procedure using an animal model.Methods A new parallel robotic system was developed that features a small cylindrical manipulator (base diameter 76 mm, height 240 mm). The performance of the new system was evaluated for its capability to assist in retinal vessel microcannulation. The test scenario was as follows: (1) introduce the microcannula into a harvested porcine eye attached loosely on the orbital fossa of an artificial face model through a 20G scleral port at the pars plana; (2) cannulate the retinal vessels (inner diameter 60-80 mu m); and (3) inject indocyanine green dye into the eye endovascularly. The success rate and procedure quality of the robotic system were evaluated by comparison with the conventional manual procedure.Results Retinal vessel microcannulation and dye injection were achieved by the robotic system twice in four attempts, and by the conventional manual procedure either not at all or incompletely in all six attempts. Dye leakage was not observed with the robotic system, indicating that microcannulation was minimally invasive; in contrast, dye leakage was always observed with the manual procedure.Conclusions The new system is more accurate than the conventional manual procedure for the tests on a porcine eye model.