Feasibility study of intraocular robotic surgery with the da Vinci Surgical System
Feasibility study of intraocular robotic surgery with the da Vinci Surgical System
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DOI：
10.1097/iae.0b013e318068de46
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发表时间：
2008-01-01
影响因子：
3.3
通讯作者：
Schwartz, Steven D.
中科院分区：
文献类型：
--
作者：
Bourla, Dan H.;Hubschman, Jean Pierre;Schwartz, Steven D.
目的：为了评估使用da芬奇手术系统（intuitive Surgical，桑尼维尔，CA）进行眼内机器人手术的可行性，方法：使用改进的机器人仪器，使用da芬奇系统在猪眼睛上进行25-gauge睫状体平坦部玻璃体切除术、眼内异物去除和前囊撕囊。我们评估了手术系统的能力，以提供必要的控制，灵活性，机动性和可视化的眼内surgery.Results：控制的机器人腕式仪器允许全范围的运动。机械臂的灵活性非常好，器械运动稳定。控制机械臂并不像移动手腕那样直观。高稳定旋转点在手术工具插入部位引起运动相关应力。在眼内手术过程中，外部手术野的可视化需要摄像机重新对准，缺乏后照明使眼前段手术难以执行。结论：达芬奇手术系统提供了足够的灵活性，执行微妙的眼内操作。在当前设计中，发现机械臂的运动学不足以进行标准眼内手术。该系统的内窥镜没有产生与眼科显微镜相同的细节。
Purpose: To assess the feasibility of performing intraocular robotic surgery with the da Vinci Surgical System (intuitive Surgical, Sunnyvale, CA).Methods: Using modified robotic instruments, 25-gauge pars plana vitrectomy, intraocular foreign body removal, and anterior capsulorhexis were performed with the da Vinci system on porcine eyes. We assessed the surgical system's ability to provide the control, dexterity, maneuverability, and visualization necessary for intraocular surgery.Results: Control of the robotic wristlike instruments allowed for full range of movement. The dexterity of the robotic arms was excellent, with steady instrument motion. Controlling the robotic arms was not as intuitive as moving the wrist. A high stable point of rotation induced motion-related stress at the site of instrument insertion. Visualization of the external operative field during intraocular procedures required camera realignment, and absent retroillumination made anterior segment surgery hard to perform.Conclusions: The da Vinci Surgical System provided adequate dexterity for performing delicate intraocular manipulations. In the current design, the kinematics of the robotic arms was found to be insufficient for standard intraocular surgery. The system's endoscope did not did not yield the same detail acquired by an ophthalmic microscope.