High-Precision Surgical Robotic System for Intraocular Procedures
Despite the extensive demonstration of robotic systems for both cataract and vitreoretinal procedures, existing technologies or mechanisms still possess insufficient accuracy, precision, and degrees of freedom for instrument manipulation or potentially automated tool exchange during surgical procedures. A new robotic system that focuses on improving tooltip accuracy, tracking performance, and smooth instrument exchange mechanism is therefore designed and manufactured. Its tooltip accuracy, precision, and mechanical capability of maintaining small incision through remote center of motion were externally evaluated using an optical coherence tomography (OCT) system. Through robot calibration and precise coordinate registration, the accuracy of tooltip positioning was measured to be 0.053$\pm$0.031 mm, and the overall performance was demonstrated on an OCT-guided automated cataract lens extraction procedure with deep learning-based pre-operative anatomical modeling and real-time supervision.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Control Modes of Teleoperated Surgical Robotic System's Tools in Ophthalmic Surgery
The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Insi…
RCM-ACT: Imitation Learning with Dynamic RCM Calibration for Autonomous Intraocular Foreign Body Removal
Intraocular foreign body removal demands millimeter-level precision in confined intraocular spaces, yet existing robotic systems predominantly rely on manual teleoperation with steep learning curves. To address the chall…
Safe Robotic Capsule Cleaning with Integrated Transpupillary and Intraocular Optical Coherence Tomography
Secondary cataract is one of the most common complications of vision loss due to the proliferation of residual lens materials that naturally grow on the lens capsule after cataract surgery. A potential treatment is capsu…
EyeLS: Shadow-Guided Instrument Landing System for Intraocular Target Approaching in Robotic Eye Surgery
Robotic ophthalmic surgery is an emerging technology to facilitate high-precision interventions such as retina penetration in subretinal injection and removal of floating tissues in retinal detachment depending on the in…
Predicting Postoperative Intraocular Lens Dislocation in Cataract Surgery via Deep Learning
A critical yet unpredictable complication following cataract surgery is intraocular lens dislocation. Postoperative stability is imperative, as even a tiny decentration of multifocal lenses or inadequate alignment of the…