Evaluation of a Force-Sensing Handheld Robot for Assisted Retinal Vein Cannulation.
Evaluation of a Force-Sensing Handheld Robot for Assisted Retinal Vein Cannulation.
复制标题
DOI：
10.1109/embc.2018.8513304
复制
发表时间：
2018-07-01
期刊：
影响因子：
--
通讯作者：
Iordachita, Iulian
中科院分区：
文献类型：
--
作者：
Gonenc, Berk;Patel, Niravkumar;Iordachita, Iulian
约 1640 万人因视网膜中央或分支静脉高凝状态、低血流量或血栓形成而受到视网膜静脉阻塞 (RVO) 的影响。目前最常见的 RVO 治疗方法旨在限制损伤。近年来，人们在动物模型和人眼模型中研究了一种实验方法，即视网膜静脉插管（RVC）。 RVC 是将治疗剂靶向输送至闭塞的视网膜静脉以溶解血栓的手术。尽管通过 RVC 已经证明了有效的治疗，但手动执行此过程仍然处于人类技能的极限。 RVC 需要将一根细套管精确地插入纤细的视网膜静脉中，并在整个输注过程中将其保持在静脉内。针-静脉相互作用力太小，即使是专家外科医生也无法感知。在这项工作中，我们提出了一项针对 RVC 的带有力感应微针的手持机器人助手的评估研究。该系统主动消除手部颤抖，根据检测到的工具组织力来检测静脉穿刺，并在静脉穿刺后稳定针头，以减少创伤和延长输注时间。在受精鸡蛋中进行脉管系统插管实验。结果显示，静脉穿刺检测 100% 成功，并且通过机器人系统的稳定辅助装置显着减少了插管位置漂移。
Approximately 16.4 million people are affected by retinal vein occlusion (RVO) resulting from hypercoagulability, low blood flow or thrombosis in the central or the branched retinal veins. Most common current treatments for RVO aim to limit the damage. In recent years, an experimental procedure, retinal vein cannulation (RVC) has been studied in animal models as well as human eye models. RVC is a procedure for targeted delivery of a therapeutic agent into the occluded retinal vein for dissolving the thrombi. Although effective treatment has been demonstrated via RVC, performing this procedure manually still remains at the limits of human skills. RVC requires to precisely insert a thin cannula into a delicate thin retinal vein, and to maintain it inside the vein throughout the infusion. The needle-vein interaction forces are too small to sense even by an expert surgeon. In this work, we present an evaluation study of a handheld robotic assistant with a force-sensing microneedle for RVC. The system actively cancels hand tremor, detects venous puncture based on detected tool-tissue forces, and stabilizes the needle after venous puncture for reduced trauma and prolonged infusion. Experiments are performed cannulating the vasculature in fertilized chicken eggs. Results show 100% success in venous puncture detection and significantly reduced cannula position drift via the stabilization aid of the robotic system.