Quantitative assessment of manual and robotic microcannulation for eye surgery using new eye model
Quantitative assessment of manual and robotic microcannulation for eye surgery using new eye model
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DOI：
10.1002/rcs.1586
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发表时间：
2015-06-01
影响因子：
2.5
通讯作者：
Mitsuishi, Mamoru
中科院分区：
文献类型：
--
作者：
Tanaka, Shinichi;Harada, Kanako;Mitsuishi, Mamoru
背景显微插管是一种需要向60-90微米视网膜静脉注射药物的眼部外科手术，手动操作难度较大。机器人辅助已被提出，但与人工操作相比，其有效性还没有被量化。方法建立了一个眼睛模型来量化手动和机器人微插管的性能。用力传感器和微通道实现的眼睛模型还模拟了仪器运动的机械约束。结果在注射药物时，机器人辅助有助于提高运动稳定性，但其定位精度没有优势。结论与人工操作相比，眼部模型可用于定量评估机器人微插管的效果。这种方法对于更好地评估外科机器人辅助手术是有效的。版权所有(C)2014 John Wiley&Sons，Ltd.
BackgroundMicrocannulation, a surgical procedure for the eye that requires drug injection into a 60-90 mu m retinal vein, is difficult to perform manually. Robotic assistance has been proposed; however, its effectiveness in comparison to manual operation has not been quantified.MethodsAn eye model has been developed to quantify the performance of manual and robotic microcannulation. The eye model, which is implemented with a force sensor and microchannels, also simulates the mechanical constraints of the instrument's movement. Ten subjects performed microcannulation using the model, with and without robotic assistance.ResultsThe results showed that the robotic assistance was useful for motion stability when the drug was injected, whereas its positioning accuracy offered no advantage.ConclusionsAn eye model was used to quantitatively assess the robotic microcannulation performance in comparison to manual operation. This approach could be valid for a better evaluation of surgical robotic assistance. Copyright (c) 2014 John Wiley & Sons, Ltd.