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:10582637
- 负责人:
- 金额:$ 40.18万
- 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 2025-01-31
- 项目状态:未结题
- 来源:
- 关键词:3-DimensionalAbateAffectAge related macular degenerationAgingAnatomyAugmented RealityBiologicalBlindnessCannulationsCataract ExtractionClinicalComplete BlindnessComplexDataDedicationsDetectionDevelopmentDiabetes MellitusDiabetic RetinopathyDiseaseDissectionEngineeringEnsureEnvironmentEpidemicEpiretinal MembraneEvaluationExcisionEyeEye SurgeonFailureFamily suidaeFeedbackFoundationsFunctional disorderFundingGoalsGrantHandHealthHumanIatrogenesisImageIndividualInterventionLocationMechanicsMembraneMicroscopeMicrosurgeryModelingMotionMotivationMovementOperative Surgical ProceduresOptical Coherence TomographyOutcomePathologyPatientsPerceptionPerformancePhysiologicalPopulationProceduresProcessProtocols documentationPsyche structureRavenResearchResolutionRetinaRetinal DiseasesRetinal PerforationsRobotRoboticsSafetyScanningScienceSeriesSpeedStructureStructure of central vein of the retinaSurgeonSurgical InstrumentsSurgical complicationSystemTactileTimeTissuesTranslatingUncertaintyUnited States National Institutes of HealthVisionVisualVisual impairmentVisualizationVitrectomyWorkauditory feedbackcognitive loadcostdesignexperiencefabricationforce feedbackhaptic feedbackhuman tissueimage guidedimprovedinnovationinterestlensmetermicroscopic imagingminimally invasivemultimodalitynew technologyopen sourceprototyperobot controlrobot interfacerobotic systemsensory feedbacksubretinal injectionsuccesssurgery outcometeleoperationtoolvirtualvirtual 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.
项目总结/文摘
项目成果
期刊论文数量(2)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Automated Retinal Vein Cannulation on Silicone Phantoms Using Optical-Coherence-Tomography-Guided Robotic Manipulations.
- DOI:10.1109/tmech.2020.3045875
- 发表时间:2021-10
- 期刊:
- 影响因子:6.4
- 作者:Gerber, Matthew J.;Hubschman, Jean-Pierre;Tsao, Tsu-Chin
- 通讯作者:Tsao, Tsu-Chin
A Novel Tissue Identification Framework in Cataract Surgery Using an Integrated Bioimpedance-Based Probe and Machine Learning Algorithms.
使用基于生物阻抗的集成探针和机器学习算法的白内障手术中的新型组织识别框架。
- DOI:10.1109/tbme.2021.3109246
- 发表时间:2022
- 期刊:
- 影响因子:0
- 作者:AghajaniPedram,Sahba;Ferguson,Peter;Gerber,Matthew;Shin,Changyeob;Hubschman,J-P;Rosen,Jacob
- 通讯作者:Rosen,Jacob
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JACOB ROSEN其他文献
JACOB ROSEN的其他文献
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{{ truncateString('JACOB ROSEN', 18)}}的其他基金
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
- 批准号:
10331767 - 财政年份:2019
- 资助金额:
$ 40.18万 - 项目类别:
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