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Thijs H. Meenink, Gerrit J. Naus, Maarten J. Beelen, Maarten Steinbuch, Nick P. Rosielle, Marc D. de Smet; Ex-vivo Experiments With A Microrobotic Surgical System For Vitreo-retinal Surgery. Invest. Ophthalmol. Vis. Sci. 2012;53(14):3789.
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Developments in vitreo-retinal eye surgery are limited by human capabilities. To improve current vitreo-retinal surgical procedures and to enable new procedures, a robotic system has been developed, extending human capabilities.
A compact, lightweight, easy to setup robotic master-slave system has been realized to perform vitreo-retinal eye surgery (Slave see Figure 1, Master see Figure 2). The system’s reach covers the major part of the vitreous cavity (up to the peripheral region). A combination of advanced mechanical and control design facilitates high accuracy (<10µm) extending human capabilities and significant time saving. The accuracy and reproducibility of the system are validated via bench experiments, including pointing and pick-and-place movements. Vitreo-retinal surgical procedures were simulated in an eye model, eggs and porcine eyes via ex-vivo experiments. The experiments include cannula placement, vitrectomy and membrane peeling.
A fully functional master-slave robotic system for vitreo-retinal eye surgery has been realized. First functional tests show a short setup time, an intuitive usage in combination with good ergonomics and satisfactory instrument reach and accuracy. Simulation of vitreo-retinal surgical procedures indicate improved accuracy and time efficient surgery compared to manual surgery.
A microrobotic surgical system for vitreo-retinal surgery is realized that meets the requirements and constraints imposed by this type of specialized surgery. First functional tests validate the realization of these requirements and constraints, improving current vitreo-retinal surgical procedures in time efficiency and accuracy, and enabling new, high-precision procedures.
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