Vitreoretinal Surgery via Robotic Microsurgical System with Image Guidance, Force Feedback, Virtual Fixture, and Augmented Reality
通过具有图像引导、力反馈、虚拟夹具和增强现实功能的机器人显微手术系统进行玻璃体视网膜手术
基本信息
- 批准号:10090474
- 负责人:
- 金额:$ 40.74万
- 依托单位:
- 依托单位国家:美国
- 项目类别:
- 财政年份:2019
- 资助国家:美国
- 起止时间:2019-02-01 至 2024-01-31
- 项目状态:已结题
- 来源:
- 关键词:3-DimensionalAbateAffectAge related macular degenerationAgingAnatomyAugmented RealityBiologicalBlindnessCannulationsCataract ExtractionClinicalComplete BlindnessComplexDataDetectionDevelopmentDiabetes MellitusDiabetic RetinopathyDiseaseDissectionEngineeringEnsureEnvironmentEpidemicEpiretinal MembraneEvaluationExcisionEyeEye SurgeonFailureFamily suidaeFeedbackFoundationsFunctional disorderFundingGoalsGrantHandHealthHumanIatrogenesisImageIndividualInterventionLocationMechanicsMembraneMicroscopeModelingMotionMotivationMovementOperative Surgical ProceduresOptical Coherence TomographyOutcomePathologyPatientsPerceptionPerformancePhysiologicalPopulationProceduresProcessProtocols documentationPsyche structureRavenResearchResolutionRetinaRetinal DiseasesRetinal PerforationsRobotRoboticsSafetyScanningScienceSeriesSpeedStructureStructure of central vein of the retinaSurgeonSurgical InstrumentsSurgical complicationSystemTactileTimeTissuesTranslatingUncertaintyUnited States National Institutes of HealthVisionVisualVisual impairmentVisualizationVitrectomyWorkauditory feedbackbasecognitive loadcostdesignexperienceforce feedbackhaptic feedbackhuman tissueimage guidedimprovedinnovationinterestlensmicroscopic imagingminimally invasivemultimodalitynew technologyopen sourceprototyperobot controlrobot interfacerobotic systemsensory feedbacksubretinal injectionsuccesssurgery outcometoolvirtualvirtual reality simulatorvisual feedback
项目摘要
PROJECT SUMMARY/ABSTRACT
The aims of the present proposal are to extend our work with the Intraocular Robotic Interventional and
Surgical System (IRISS) and augment it for teleoperated vitreoretinal surgery. Although novel technologies
such as intraoperative optical coherence tomography (i-OCT) have been developed, vitreoretinal surgeons still
lack critical information during surgery (e.g., the distance between pre-retinal membrane and retina) due to
inadequate display and feedback. In addition, physiological capabilities are a limiting factor because the retina
is one of the smallest and most delicate tissues of the human body. The rate of surgical failure in complex
retinal cases remains high (10–15%) due to the limits of current surgical capabilities, thereby condemning
these patients to blindness [1-3].
Our group has developed the IRISS [4-10] through a combination of internal funding and a recent R21 grant
(NIH/R21EY024065). This support enabled our group to develop the IRISS platform to perform fully automated
cataract surgery on ex-vivo pig eyes. We have also demonstrated the ability of the IRISS to perform safe-
motion guidance for lens removal based on per-operative, real-time anatomical detection, and teleoperated
capabilities for vitreoretinal maneuvers, including retinal vein cannulation and core vitrectomy [4]. Furthermore,
Raven II, an open-source surgical robotics system [11-22], was co-developed by Rosen over the past 16 years
for general minimally invasive surgery. In the present study, the surgical cockpit of the Raven II system will
serve as the foundation of the user interface for the improved robotic surgical system. The accumulated
experience of our group through this previous work will guide the proposed research effort from the stringent
clinical requirements to the design, development, and evaluation of the proposed system.
The present study is composed of three independent, parallel tracks. First, the mechanical design and
assembly of the robotic surgical system will be improved to achieve tool-tip positional precision of 5 µm,
approximately ten times more precise than a human surgeon [23]. Second, we will enhance the surgeon's
abilities in sensing and interpreting anatomical details during retinal manipulation by applying high-resolution
(10 µm), real-time intraoperative i-OCT scans to detect anatomical features critical to specific vitreoretinal
procedures. Third, surgical features of interest will be presented to the surgeon via a human–robot surgical
cockpit that provides innovative 3D, augmented-reality visualization and auditory and haptic feedback. Each
aim will be assessed by a series of evaluation protocols to ensure their success. The safety and efficacy of the
system will also be compared with and without the proposed improvements (robotic control, enhanced sensing,
and augmented feedback) on a virtual reality simulator in addition to phantom and biological eye models
chosen to best assess surgical outcome. It is important to note that while the ultimate goal is the integration of
all three aims, their development remains independent and success or failure in one does not affect the
outcome of another.
We hypothesize that a surgeon–robot surgical system that incorporates enhanced sensing and feedback to
enrich the surgeon's perception and interpretation of anatomical details will improve surgical safety and reduce
the rate of surgical complications to improve health outcomes and abate the costs associated with surgical
complications.
项目摘要/摘要
本提案的目的是扩展我们在人工眼内机器人介入和
手术系统(IRIS),并将其增强,用于远程操作的玻璃体视网膜手术。尽管新技术
例如术中光学相干断层扫描(I-OCT)已经发展,玻璃体视网膜外科医生仍然
在手术过程中缺乏关键信息(例如,视网膜前膜与视网膜之间的距离)
展示和反馈不足。此外,生理能力是一个限制因素,因为视网膜
是人体最小、最脆弱的组织之一。复合体手术失败率
由于目前手术能力的限制,视网膜病例仍然居高不下(10%-15%),从而谴责
这些患者致盲[1-3]。
我们小组通过内部资助和最近的R21赠款相结合的方式开发了IRIS[4-10
(NIH/R21EY024065)。这种支持使我们的团队能够开发IRIS平台来执行完全自动化的
离体猪眼白内障手术。我们还展示了IRIS执行安全任务的能力-
基于术中实时解剖检测和遥操作的晶状体摘除运动指导
玻璃体视网膜操作能力,包括视网膜静脉插管和核心玻璃体切除术[4]。此外,
Raven II是一个开源的外科机器人系统[11-22],它是由Rosen在过去16年中共同开发的
用于普通的微创手术。在目前的研究中,乌鸦II系统的外科驾驶舱将
作为改进的机器人手术系统的用户界面的基础。累积的
我们课题组通过这项前期工作的经验将指导建议的研究工作从严格的
临床需求对拟议系统的设计、开发和评估。
本研究由三个独立的、平行的轨道组成。第一,机械设计和
机器人手术系统的装配将得到改进,以实现5微米的刀尖位置精度,
大约比人类外科医生精确十倍[23]。第二,我们将加强外科医生的
在应用高分辨率视网膜操作过程中感知和解释解剖细节的能力
(10微米),术中实时I-OCT扫描,以检测对特定玻璃体视网膜至关重要的解剖特征
程序。第三,感兴趣的外科特征将通过人类-机器人外科手术呈现给外科医生
驾驶舱,提供创新的3D、增强现实可视化以及听觉和触觉反馈。每个人
AIM将通过一系列评估方案进行评估,以确保其成功。安慰剂的安全性和有效性
还将比较系统是否有拟议的改进(机器人控制、增强的传感、
和增强的反馈)在虚拟现实模拟器上
被选来最好地评估手术结果。值得注意的是,虽然最终目标是整合
所有这三个目标,它们的发展保持独立,一个目标的成败不影响
另一个人的结果。
我们假设一个外科医生-机器人手术系统结合了增强的感知和反馈来
丰富外科医生对解剖细节的感知和解释将提高手术安全性并减少
手术并发症的发生率,以改善健康结果并降低与手术相关的成本
并发症。
项目成果
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
数据更新时间:{{ journalArticles.updateTime }}
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
数据更新时间:{{ journalArticles.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ monograph.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ sciAawards.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ conferencePapers.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ patent.updateTime }}
Jean-Pierre Hubschman其他文献
Jean-Pierre Hubschman的其他文献
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
{{ truncateString('Jean-Pierre Hubschman', 18)}}的其他基金
Intraocular Robotic Interventional and Surgical System for Automated Cataract Surgery
自动化白内障手术的眼内机器人介入手术系统
- 批准号:
10018028 - 财政年份:2019
- 资助金额:
$ 40.74万 - 项目类别:
Intraocular Robotic Interventional and Surgical System for Automated Cataract Surgery
自动化白内障手术的眼内机器人介入手术系统
- 批准号:
9802773 - 财政年份:2019
- 资助金额:
$ 40.74万 - 项目类别:
相似海外基金
A Phase 1b, Multi-center Study of IV Gallium Nitrate in Patients with Cystic Fibrosis who are colonized with Nontuberculosis Mycobacterium (The ABATE Study).
一项针对非结核分枝杆菌定植的囊性纤维化患者静脉注射硝酸镓的 1b 期多中心研究(ABATE 研究)。
- 批准号:
10237132 - 财政年份:2020
- 资助金额:
$ 40.74万 - 项目类别:
NSERC CREATE for freshwater Harmful Algal Blooms (fHABs): Algal Bloom Assessment though Science, Technology and Education (ABATE).
NSERC CREATE 针对淡水有害藻华 (fHAB):通过科学、技术和教育 (ABATE) 进行藻华评估。
- 批准号:
448172-2014 - 财政年份:2019
- 资助金额:
$ 40.74万 - 项目类别:
Collaborative Research and Training Experience
NSERC CREATE for freshwater Harmful Algal Blooms (fHABs): Algal Bloom Assessment though Science, Technology and Education (ABATE).
NSERC CREATE 针对淡水有害藻华 (fHAB):通过科学、技术和教育 (ABATE) 进行藻华评估。
- 批准号:
448172-2014 - 财政年份:2018
- 资助金额:
$ 40.74万 - 项目类别:
Collaborative Research and Training Experience
SBIR Phase I: Novel Immuno-Nutrition Properties of a Single Cell Protein to Abate Soy-Induced Enteritis in Aquafeeds
SBIR 第一阶段:单细胞蛋白的新型免疫营养特性可减轻水产饲料中大豆诱发的肠炎
- 批准号:
1819652 - 财政年份:2018
- 资助金额:
$ 40.74万 - 项目类别:
Standard Grant
NSERC CREATE for freshwater Harmful Algal Blooms (fHABs): Algal Bloom Assessment though Science, Technology and Education (ABATE).
NSERC CREATE 针对淡水有害藻华 (fHAB):通过科学、技术和教育 (ABATE) 进行藻华评估。
- 批准号:
448172-2014 - 财政年份:2017
- 资助金额:
$ 40.74万 - 项目类别:
Collaborative Research and Training Experience
Modulating signaling pathways in endothelial cells to abate leukemic progression
调节内皮细胞信号通路以减缓白血病进展
- 批准号:
9893715 - 财政年份:2016
- 资助金额:
$ 40.74万 - 项目类别:
NSERC CREATE for freshwater Harmful Algal Blooms (fHABs): Algal Bloom Assessment though Science, Technology and Education (ABATE).
NSERC CREATE 针对淡水有害藻华 (fHAB):通过科学、技术和教育 (ABATE) 进行藻华评估。
- 批准号:
448172-2014 - 财政年份:2016
- 资助金额:
$ 40.74万 - 项目类别:
Collaborative Research and Training Experience
NSERC CREATE for freshwater Harmful Algal Blooms (fHABs): Algal Bloom Assessment though Science, Technology and Education (ABATE).
NSERC CREATE 针对淡水有害藻华 (fHAB):通过科学、技术和教育 (ABATE) 进行藻华评估。
- 批准号:
448172-2014 - 财政年份:2015
- 资助金额:
$ 40.74万 - 项目类别:
Collaborative Research and Training Experience
Will mild vs. moderate physical activity suffice to abate the progression of subclinical atherosclerosis in sedentary adults?
轻度与中度体力活动是否足以减缓久坐成人亚临床动脉粥样硬化的进展?
- 批准号:
306958 - 财政年份:2014
- 资助金额:
$ 40.74万 - 项目类别:
Operating Grants
NSERC CREATE for freshwater Harmful Algal Blooms (fHABs): Algal Bloom Assessment though Science, Technology and Education (ABATE).
NSERC CREATE 针对淡水有害藻华 (fHAB):通过科学、技术和教育 (ABATE) 进行藻华评估。
- 批准号:
448172-2014 - 财政年份:2014
- 资助金额:
$ 40.74万 - 项目类别:
Collaborative Research and Training Experience