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Yang K, Jin X, Wang Z, Fang Y, Li Z, Yang Z, Cong J, Yang Y, Huang Y, Wang L. Robot-assisted subretinal injection system: development and preliminary verification. BMC Ophthalmol 2022; 22:484. [PMID: 36510151 PMCID: PMC9744060 DOI: 10.1186/s12886-022-02720-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/11/2022] [Accepted: 11/30/2022] [Indexed: 12/14/2022] Open
Abstract
BACKGROUND To design and develop a surgical robot capable of assisting subretinal injection. METHODS A remote center of motion (RCM) mechanical design and a master-slave teleoperation were used to develop and manufacture the assisted subretinal surgery robot (RASR). Ten fresh isolated porcine eyes were divided into the Robot Manipulation (RM) group and Manual Manipulation (MM) group (5 eyes for each group), and subretinal injections were performed by the robot and manual manipulation methods, respectively. A preliminary verification of the robot was performed by comparing the advantages and disadvantages of the robot manipulation and manual manipulation by using optical coherent tomography (OCT), fundus photography, and video motion capture analysis after the surgery. RESULTS Both the robot and the manual manipulation were able to perform subretinal injections with a 100% success rate. The OCT results showed that the average subretinal area was 1.548 mm2 and 1.461 mm2 in the RM and MM groups, respectively (P > 0.05). Meanwhile the volume of subretinal fluid obtained using the retinal map mode built in OCT was not statistically different between the RM and MM groups (P > 0.05). By analyzing the surgical video using Kinovea, a motion capture and analysis software, the results suggest that the mean tremor amplitude of the RM group was 0.3681 pixels (x direction), which was significantly reduced compared to 18.8779 pixels (x direction) in the MM group (P < 0.0001). CONCLUSION Robot-assisted subretinal injection system (RASR) is able to finish subretinal injection surgery with better stability and less fatigue than manual manipulation.
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Affiliation(s)
- Kunkun Yang
- grid.414252.40000 0004 1761 8894Graduate School of Chinese PLA General Hospital, 100853 Beijing, China ,grid.414252.40000 0004 1761 8894Senior Department of Ophthalmology, the Third Medical Center, Chinese PLA General Hospital, 100039 Beijing, China
| | - Xin Jin
- grid.414252.40000 0004 1761 8894Senior Department of Ophthalmology, the Third Medical Center, Chinese PLA General Hospital, 100039 Beijing, China
| | - Zhaodong Wang
- grid.64939.310000 0000 9999 1211School of Mechanical Engineering and Automation, Beihang University, 100191 Beijing, China
| | - Yifan Fang
- grid.414252.40000 0004 1761 8894Graduate School of Chinese PLA General Hospital, 100853 Beijing, China ,grid.414252.40000 0004 1761 8894Senior Department of Ophthalmology, the Third Medical Center, Chinese PLA General Hospital, 100039 Beijing, China
| | - Zhao Li
- grid.414252.40000 0004 1761 8894Senior Department of Ophthalmology, the Third Medical Center, Chinese PLA General Hospital, 100039 Beijing, China ,grid.216938.70000 0000 9878 7032School of Medicine, Nankai University, 300071 Tianjin, China
| | - Zhe Yang
- grid.414252.40000 0004 1761 8894Graduate School of Chinese PLA General Hospital, 100853 Beijing, China ,grid.414252.40000 0004 1761 8894Senior Department of Ophthalmology, the Third Medical Center, Chinese PLA General Hospital, 100039 Beijing, China
| | - Jinju Cong
- Aier Eye Hospital, 433199 Qianjiang City, Hubei Province China
| | - Yang Yang
- grid.64939.310000 0000 9999 1211School of Mechanical Engineering and Automation, Beihang University, 100191 Beijing, China
| | - Yifei Huang
- grid.414252.40000 0004 1761 8894Senior Department of Ophthalmology, the Third Medical Center, Chinese PLA General Hospital, 100039 Beijing, China
| | - Liqiang Wang
- grid.414252.40000 0004 1761 8894Senior Department of Ophthalmology, the Third Medical Center, Chinese PLA General Hospital, 100039 Beijing, China ,grid.414252.40000 0004 1761 8894State Key Laboratory of Kidney Diseases, 100853 Beijing, China
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Savastano A, Rizzo S. A Novel Microsurgical Robot: Preliminary Feasibility Test in Ophthalmic Field. Transl Vis Sci Technol 2022; 11:13. [PMID: 35976656 PMCID: PMC9400127 DOI: 10.1167/tvst.11.8.13] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022] Open
Abstract
Purpose This study investigated the feasibility and potential advantage of using a new microsurgical teleoperated robot, Symani Surgical System, in the ophthalmology field. In particular, considering the extreme precision of the system and the dexterity of the instrument, possible use of the Symani Surgical System has been explored for suturing in corneal graft surgery. Methods Manual and robot-assisted suturing of partial corneal transplants was performed on the porcine eye model by an ophthalmologist with experience with the porcine model. Suturing execution time, suture placement, and tomographic parameters were analyzed to assess the regularity and distribution of corneal sutures for both manual and robotic treatment. Results The two robot-assisted procedures were properly completed on the porcine model, confirming the ease of use of the system and its capabilities, as well as the dexterity of the microinstruments. Manual and robotic treatments were found to be equivalent in terms of distance and angular precision of suture placement and corneal surface regularity (Gaussian anterior curvature). The robotic procedure required longer suturing execution times compared with the manual procedure. Conclusions The technical and clinical feasibility of robot-assisted suturing of partial corneal graft using the Symani Surgical System has been confirmed for the first time, to our knowledge, using an ex vivo porcine model. Robotic suturing required longer time to complete but was equivalent to the manual procedure with regard to the imaging data collected. Translational Relevance This study evaluated the use of the Symani Surgical System in the ophthalmology field. Future investigations could further identify the advantages offered by the stability, dexterity, and motion precision of the system for corneal surgeries, paving the way for clinical use in both adult and even more challenging pediatric therapy.
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Affiliation(s)
- Alfonso Savastano
- Ophthalmology Unit, Fondazione Policlinico Universitario A. Gemelli IRCCS, Rome, Italy.,Ophthalmology Unit, Università Cattolica del Sacro Cuore, Rome, Italy
| | - Stanislao Rizzo
- Ophthalmology Unit, Fondazione Policlinico Universitario A. Gemelli IRCCS, Rome, Italy.,Ophthalmology Unit, Università Cattolica del Sacro Cuore, Rome, Italy.,Consiglio Nazionale delle Ricerche, Istituto di Neuroscienze, Pisa, Italy
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Adaptive kernel selection network with attention constraint for surgical instrument classification. Neural Comput Appl 2021; 34:1577-1591. [PMID: 34539089 PMCID: PMC8435567 DOI: 10.1007/s00521-021-06368-x] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/20/2021] [Accepted: 07/26/2021] [Indexed: 11/15/2022]
Abstract
Computer vision (CV) technologies are assisting the health care industry in many respects, i.e., disease diagnosis. However, as a pivotal procedure before and after surgery, the inventory work of surgical instruments has not been researched with the CV-powered technologies. To reduce the risk and hazard of surgical tools’ loss, we propose a study of systematic surgical instrument classification and introduce a novel attention-based deep neural network called SKA-ResNet which is mainly composed of: (a) A feature extractor with selective kernel attention module to automatically adjust the receptive fields of neurons and enhance the learnt expression and (b) A multi-scale regularizer with KL-divergence as the constraint to exploit the relationships between feature maps. Our method is easily trained end-to-end in only one stage with few additional calculation burdens. Moreover, to facilitate our study, we create a new surgical instrument dataset called SID19 (with 19 kinds of surgical tools consisting of 3800 images) for the first time. Experimental results show the superiority of SKA-ResNet for the classification of surgical tools on SID19 when compared with state-of-the-art models. The classification accuracy of our method reaches up to 97.703%, which is well supportive for the inventory and recognition study of surgical tools. Also, our method can achieve state-of-the-art performance on four challenging fine-grained visual classification datasets.
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Roizenblatt M, Edwards TL, Gehlbach PL. Robot-assisted vitreoretinal surgery: current perspectives. ROBOTIC SURGERY (AUCKLAND) 2018; 5:1-11. [PMID: 29527537 PMCID: PMC5842029 DOI: 10.2147/rsrr.s122301] [Citation(s) in RCA: 18] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Indexed: 11/25/2022]
Abstract
Vitreoretinal microsurgery is among the most technically challenging of the minimally invasive surgical techniques. Exceptional precision is required to operate on micron scale targets presented by the retina while also maneuvering in a tightly constrained and fragile workspace. These challenges are compounded by inherent limitations of the unassisted human hand with regard to dexterity, tremor and precision in positioning instruments. The limited human ability to visually resolve targets on the single-digit micron scale is a further limitation. The inherent attributes of robotic approaches therefore, provide logical, strategic and promising solutions to the numerous challenges associated with retinal microsurgery. Robotic retinal surgery is a rapidly emerging technology that has witnessed an exponential growth in capabilities and applications over the last decade. There is now a worldwide movement toward evaluating robotic systems in an expanding number of clinical applications. Coincident with this expanding application is growth in the number of laboratories committed to "robotic medicine". Recent technological advances in conventional retina surgery have also led to tremendous progress in the surgeon's capabilities, enhanced outcomes, a reduction of patient discomfort, limited hospitalization and improved safety. The emergence of robotic technology into this rapidly advancing domain is expected to further enhance important aspects of the retinal surgery experience for the patients, surgeons and society.
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Affiliation(s)
- Marina Roizenblatt
- Department of Ophthalmology, Wilmer Eye Institute, The Johns Hopkins University School of Medicine, Baltimore, MD, USA
- Department of Ophthalmology, Federal University of São Paulo, São Paulo, Brazil,
| | - Thomas L Edwards
- Department of Clinical Neurosciences, University of Oxford, Royal Victorian Eye and Ear Hospital, Melbourne, VIC, Australia
| | - Peter L Gehlbach
- Department of Ophthalmology, Federal University of São Paulo, São Paulo, Brazil,
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Nuzzi R, Brusasco L. State of the art of robotic surgery related to vision: brain and eye applications of newly available devices. Eye Brain 2018; 10:13-24. [PMID: 29440943 PMCID: PMC5798758 DOI: 10.2147/eb.s148644] [Citation(s) in RCA: 18] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/23/2022] Open
Abstract
Background Robot-assisted surgery has revolutionized many surgical subspecialties, mainly where procedures have to be performed in confined, difficult to visualize spaces. Despite advances in general surgery and neurosurgery, in vivo application of robotics to ocular surgery is still in its infancy, owing to the particular complexities of microsurgery. The use of robotic assistance and feedback guidance on surgical maneuvers could improve the technical performance of expert surgeons during the initial phase of the learning curve. Evidence acquisition We analyzed the advantages and disadvantages of surgical robots, as well as the present applications and future outlook of robotics in neurosurgery in brain areas related to vision and ophthalmology. Discussion Limitations to robotic assistance remain, that need to be overcome before it can be more widely applied in ocular surgery. Conclusion There is heightened interest in studies documenting computerized systems that filter out hand tremor and optimize speed of movement, control of force, and direction and range of movement. Further research is still needed to validate robot-assisted procedures.
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Affiliation(s)
- Raffaele Nuzzi
- Department of Surgical Sciences, Eye Clinic, University of Torino, Turin, Italy
| | - Luca Brusasco
- Department of Surgical Sciences, Eye Clinic, University of Torino, Turin, Italy
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Nano-ophthalmology: Applications and considerations. NANOMEDICINE-NANOTECHNOLOGY BIOLOGY AND MEDICINE 2017; 13:1459-1472. [DOI: 10.1016/j.nano.2017.02.007] [Citation(s) in RCA: 54] [Impact Index Per Article: 7.7] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/04/2016] [Revised: 01/11/2017] [Accepted: 02/01/2017] [Indexed: 02/03/2023]
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Chen YQ, Tao JW, Su LY, Li L, Zhao SX, Yang Y, Shen LJ. Cooperative robot assistant for vitreoretinal microsurgery: development of the RVRMS and feasibility studies in an animal model. Graefes Arch Clin Exp Ophthalmol 2017; 255:1167-1171. [PMID: 28389702 DOI: 10.1007/s00417-017-3656-3] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/17/2016] [Revised: 03/12/2017] [Accepted: 03/22/2017] [Indexed: 10/19/2022] Open
Abstract
PURPOSE The purpose of the study was to describe the development of a robotic aided surgical system named RVRMS (robotic vitreous retinal microsurgery system) and to evaluate the capability for using it to perform vitreoretinal surgery. METHODS The RVRMS was designed and built to include the key components of two independent arms. End-effectors of each arm fix various surgical instruments and perform intraocular manipulation. To evaluate properly the RVRMS, robot-assisted 23-gauge surgical tasks including endolaser for retinal photocoagulation, pars plana vitrectomy (PPV), retinal foreign body removal and retinal vascular cannulation were performed in two different sizes of an animal model. Endolaser was performed in the eye of a living Irish rabbit and the other tasks were done in a harvested porcine eye. For each evaluation, the duration and the successful completion of the task was assessed. RESULTS Robot-assisted vitreoretinal operations were successfully performed in nine rabbit eyes and 25 porcine eyes without any iatrogenic complication such as retinal tear or retinal detachment. In the task of using an endolaser, three rows of burns around the induced retinal hole were performed in nine rabbit eyes with half size intervals of laser spots. Nine procine eyes underwent PPV followed by successful posterior vitreous detachment (PVD) induction assisted with triamcinolone acetonide (TA). Nine porcine eyes completed removal of a fine stainless steel wire, which was inserted into prepared retinal tissue. Finally, retinal vascular cannulation with a piece of stainless steel wire (6mm length, 45 μm pipe diameter and one end cut to ∼30° slope) was successfully achieved in seven porcine eyes. The average duration of each procedure was 10.91±1.22 min, 11.68±2.11min, 5.90±0.46 min and 13.5±6.2 min, respectively. CONCLUSIONS Maneuverability, accuracy and stability of robot-assisted vitreoretinal microsurgery using the RVRMS were demonstrated in this study. Wider application research of robotic surgery and improvement of a robotic system should be continued.
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Affiliation(s)
- Yi-Qi Chen
- Eye Hospital of Wenzhou Medical University, Hangzhou, Zhejiang, China.,Wenzhou Medical University, Wenzhou, Zhejiang, China
| | - Ji-Wei Tao
- Eye Hospital of Wenzhou Medical University, Hangzhou, Zhejiang, China
| | - Ling-Ya Su
- Wenzhou Medical University, Wenzhou, Zhejiang, China
| | - Liang Li
- Wenzhou Medical University, Wenzhou, Zhejiang, China
| | - Shi-Xin Zhao
- Eye Hospital of Wenzhou Medical University, Hangzhou, Zhejiang, China
| | - Yang Yang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Li-Jun Shen
- Eye Hospital of Wenzhou Medical University, Hangzhou, Zhejiang, China. .,Wenzhou Medical University, Wenzhou, Zhejiang, China.
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Bourcier T, Chammas J, Becmeur PH, Sauer A, Gaucher D, Liverneaux P, Marescaux J, Mutter D. Robot-assisted simulated cataract surgery. J Cataract Refract Surg 2017; 43:552-557. [DOI: 10.1016/j.jcrs.2017.02.020] [Citation(s) in RCA: 18] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/07/2016] [Revised: 02/03/2017] [Accepted: 02/20/2017] [Indexed: 11/26/2022]
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Telerobotic contact transscleral cyclophotocoagulation of the ciliary body with the diode laser. J Robot Surg 2013; 8:49-55. [PMID: 27637239 DOI: 10.1007/s11701-013-0424-1] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/22/2013] [Accepted: 07/15/2013] [Indexed: 10/26/2022]
Abstract
To assess the feasibility of using the Robotic Slave Micromanipulator Unit (RSMU) to remotely photocoagulate the ciliary body for the treatment of glaucoma with the diode laser. In fresh unoperated enucleated human eyes, the ciliary body was destroyed either with a standard contact transscleral cyclophotocoagulation 'by hand' diode laser technique, or remotely using the RSMU. The treated sections were fixed in formalin, paraffin-embedded, and stained with hematoxylin and eosin. Histological evaluation was performed by a masked observer using a standardized grading system based on the amount of damage to the ciliary body to evaluate effectiveness of treatment. Both methods of contact transscleral cyclophotocoagulation showed therapeutic tissue disruption of the ciliary processes and both the non-pigmented and pigmented ciliary epithelium. Histology examination of remote robotic contact transscleral cyclophotocoagulation and "by hand" technique produced similar degrees of ciliary body tissue disruption. Remote diode laser contact transscleral cyclophotocoagulation of the ciliary body in fresh enucleated human eyes is possible with the RSMU. Therapeutic tissue disruption of the ciliary body was achieved. Additional study is necessary to determine the safety and efficacy of robotically-delivered cyclophotocoagulation in live eyes.
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Current world literature. Curr Opin Urol 2010; 21:84-91. [PMID: 21127406 DOI: 10.1097/mou.0b013e328341a1a3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/27/2022]
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