Microsurgical robotic system for vitreoretinal surgery

作者：Ida Yoshiki^*; Sugita Naohiko; Ueta Takashi; Tamaki Yasuhiro; Tanimoto Keiji; Mitsuishi Mamoru

来源：International Journal of Computer Assisted Radiology and Surgery, 2012, 7(1): 27-34.

DOI：10.1007/s11548-011-0602-4

• Surgical robot
• Microsurgical system
• Vitreoretinal surgery
• Master-slave system

Purpose Robotics may improve vitreoretinal surgery by steadying hand motion, thereby reducing negative outcomes. This study aimed to develop a microsurgical robot for vitreoretinal surgery and to perform clinical procedures using robot-assisted interventions.
Methods A microsurgical system for vitreoretinal surgery was designed to meet specific requirements for the degree of freedom, accuracy, and workspace. The system was intended to provide micrometer accurate manipulation within the eye. The slave manipulator has a tool change mechanism for switching surgical instruments. The slave manipulator is controlled by the surgeon using a master manipulator consisting of multiple joints.
Results The robotic system was used to carry out microcannulation experiments on a pig's eye. A surgeon was able to successfully perform microcannulation.
Conclusions This microsurgical robotic vitreoretinal surgical system showed superior operability compared with a traditional manual procedure, and it demonstrated sufficient potential to warrant further testing in animal trials to assess its clinical feasibility.

• 出版日期2012-1