Search Results (6)

Ophthalmic surgery requires micrometer-level precision due to the eye’s delicate anatomy, yet manual limitations and restricted 3D visualization make absolute accuracy challenging, driving interest in robotic and Artificial Intelligence technologies to enhance safety and precision. This is a narrative review of experimental and published studies on PubMed and Open Evidence to review the current advances, challenges, and translational potential of robotic-assisted needle insertion in corneal surgery. Topics include robotic corneal surgery platforms such as the da Vinci and custom microsurgical robots, telemanipulation, intraoperative optical coherence tomography (iOCT), and reinforcement learning applications. Recent advancements in the field have demonstrated enhanced needle insertion precision, tremor elimination, and improved visualization of needle trajectory in corneal procedures, including corneal lacerations, pterygium repairs and penetrating keratoplasties (PKs). Nonetheless, significant limitations in the state of the art persist, particularly concerning the integration of robotic systems into clinical practice in in vivo settings. Our results indicate that current studies are mostly conducted in an ex vivo setting, which introduces inherent biases and reduces the generalizability of findings to clinical practice. Additionally, the majority of these studies involve small sample sizes, limiting statistical power and the ability to draw robust conclusions. Together, these limitations highlight the need for larger, well-designed in vivo studies to validate and expand upon existing findings. This review bridges experimental innovation and clinical application, highlighting strategies to overcome current barriers in robotic corneal surgery. Full article

This paper proposes a novel virtual-fixtures-based shared control concept for eye surgery systems focusing on cataract procedures, one of the most common ophthalmic surgeries. Current research on haptic force feedback aims to enhance manipulation capabilities by integrating teleoperated medical robots. Our proposed concept utilizes teleoperated medical robots to improve the training of young surgeons by providing haptic feedback during cataract operations based on geometrical virtual fixtures. The core novelty of our concept is the active guidance to the incision point generated directly from the geometrical representation of the virtual fixtures, and, therefore, it is computationally efficient. Furthermore, novel virtual fixtures are introduced for the posterior corneal surface of the eye during the cataract operation. The concept is tested in a human-in-the-loop pilot study, where non-medical engineering students participated. The results indicate that the proposed shared control system is helpful for the test subjects. Therefore, the inclusion of the proposed concept can be beneficial for the training of non-experienced surgeons. Full article

As the prevalence of related diseases continues to rise, a corresponding increase in the demand for internal limiting membrane (ILM) peeling surgery has been observed. However, significant challenges are encountered in ILM peeling surgery, including limited force feedback, inadequate depth perception, and surgeon hand tremors. Research on fully autonomous ILM peeling surgical robots has been conducted to address the imbalance between medical resource availability and patient demand while enhancing surgical safety. An automatic control framework for break initiation in ILM peeling is proposed in this study, which integrates model-predictive control with fractional-order admittance control. Additionally, a multi-vision task surgical scene perception method is introduced based on target detection, key point recognition, and sparse binocular matching. A surgical trajectory planning strategy for break initiation in ILM peeling aligned with operative specifications is proposed. Finally, validation experiments for automatic break initiation in ILM peeling were performed using eye phantoms. The results indicated that the positional error of the micro-forceps tip remained within 40 μm. At the same time, the contact force overshoot was limited to under 6%, thereby ensuring both the effectiveness and safety of break initiation during ILM peeling. Full article

With advances in minimally invasive ophthalmic surgery (MIOS), novel vitreoretinal surgeries have been proposed to treat retinal diseases. Due to the limitations of manual techniques, surgical robots have been introduced for such surgeries. Among ophthalmic surgical robots, the remote center of motion (RCM) mechanism is widely used due to its unique advantages. In this paper, a novel RCM is proposed. Based on the configuration, the kinematics and singularity are analyzed. Subsequently, the planar workspace is analyzed based on ocular anatomy and the requirements of MIOS. The optimal configuration is selected according to the workspace coverage analysis, and the three-dimensional workspace is obtained. Finally, a prototype is built, and the motion is validated. When compared with the related prior RCM mechanisms, the resulting design has qualified workspace coverage, more concise kinematics, and reduced motion coupling with all actuators placed at the distal end of the base. The proposed RCM mechanism is suitable for common MIOS. Future research will further optimize the mechanical structure and control algorithm to improve the accuracy of the prototype. Full article

This study presents an investigation focusing on the advancement of a robot designed for subretinal injections in the context of macular degeneration treatment. The technique of subretinal injection surgery stands as the most efficacious approach for the successful transplantation of stem cells into the retinal pigment epithelium layer. This particular procedure holds immense significance in advancing research and implementing therapeutic strategies involving retinal stem cell transplantation. The execution of artificial subretinal surgery poses considerable challenges which can be effectively addressed through the utilization of subretinal injection surgery robots. The development process involved a comprehensive modeling phase, integrating computer-aided design (CAD) and finite element analysis (FEA) techniques. These simulations facilitated iterative enhancements of the mechanical aspects pertaining to the robotic arm. Furthermore, MATLAB was employed to simulate and visualize the robot’s workspace, and independent verification was conducted to ascertain the range of motion for each degree of freedom. Full article

The aim of this study was to design a multipole-electromagnet robotic platform named OctoRob. This platform provides a minimally invasive means for targeted therapeutic interventions in specific intraocular areas. OctoRob is capable of generating both appropriate magnetic fields and gradients. The main scientific objectives were: (i) To propose an optimal reconfigurable arrangement of electromagnets suitable for ophthalmic interventions. (ii) To model, design and implement a one-degree-of-freedom robotic arm connected with an electromagnet in order to optimize the generation of magnetic fields and gradients. (iii) To evaluate the magnetic performances of the OctoRob platform, including different tilted angles. The results show that OctoRob platform has great potential to be applied for ophthalmic surgery. Full article