Accurate Robotic Posterior Capsule Polishing With Tissue Stabilization

被引：3

作者：

Lee, Yu-Hsiu ^{[1
]}

Lai, Yu-Ting ^{[1
]}

Gerber, Matthew J. J. ^{[1
]}

Dodds, Jaime ^{[2
]}

Hubschman, Jean-Pierre ^{[2
]}

Rosen, Jacob ^{[1
]}

Tsao, Tsu-Chin ^{[1
]}

机构：

[1] Univ Calif Los Angeles, Dept Mech & Aerosp Engn, Los Angeles, CA 90095 USA

[2] Univ Calif Los Angeles, Stein Eye Inst, Los Angeles, CA 90095 USA

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2024年 / 29卷 / 01期

关键词：

Index Terms-Cataract surgery; learning control; medi-cal devices; optical coherence tomography; robot-assisted minimally invasive surgery; OPACIFICATION; SURGERY; VOLUME;

D O I：

10.1109/TMECH.2023.3278684

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Within cataract surgery, posterior capsule (PC) polishing is a specific procedure that has demonstrated value toward improving surgical outcomes, yet is not commonly performed by surgeons due to the risk of doing so. In this work, a robotic system is used to perform the polishing procedure through three main contributions: external stabilization of the eye using a dedicated docking device, regulating intraocular pressure through feedback control, and improving the robot-tracking performance to result in an accurate polishing procedure. To validate the methodology, polishing was performed on four ex vivo pig eyes by mimicking the residual lens on the PC with an evenly distributed layer of glue. Fast and accurate polishing results were achieved and complete glue removal was accomplished in all experiments without any PC rupture or other surgical complications.

引用

页码：290 / 300

页数：11

共 24 条

[1] Simulation of flow field during irrigation/aspiration in phacoemulsification using computational fluid dynamics [J].

Abouali, Omid ;

Bayatpour, Dariush ;

Ghaffariyeh, Alireza ;

Ahmadi, Goodarz .

JOURNAL OF CATARACT AND REFRACTIVE SURGERY, 2011, 37 (08) :1530-1537

[2]

Aktan S., 1992, EUROPEAN J IMPLANT R, V4, P161

[3] POSTERIOR CAPSULE OPACIFICATION [J].

APPLE, DJ ;

SOLOMON, KD ;

TETZ, MR ;

ASSIA, EI ;

HOLLAND, EY ;

LEGLER, UFC ;

TSAI, JC ;

CASTANEDA, VE ;

HOGGATT, JP ;

KOSTICK, AMP .

SURVEY OF OPHTHALMOLOGY, 1992, 37 (02) :73-116

[4] Posterior Capsular Opacification A Problem Reduced but Not Yet Eradicated [J].

Awasthi, Niranjan ;

Guo, Suqin ;

Wagner, B. J. .

ARCHIVES OF OPHTHALMOLOGY, 2009, 127 (04) :555-562

[5] In Vivo Measurement of the Human Vitreous Chamber Volume Using Computed Tomography Imaging of 100 Eyes [J].

Azhdam, Ariel M. ;

Goldberg, Robert A. ;

Ugradar, Shoaib .

TRANSLATIONAL VISION SCIENCE & TECHNOLOGY, 2020, 9 (01)

[6] Development of a Smart Pump for Monitoring and Controlling Intraocular Pressure [J].

Bello, Simon A. ;

Malavade, Sharad ;

Passaglia, Christopher L. .

ANNALS OF BIOMEDICAL ENGINEERING, 2017, 45 (04) :990-1002

[7] Iterative Learning of Dynamic Inverse Filters for Feedforward Tracking Control [J].

Chen, Cheng-Wei ;

Rai, Sandeep ;

Tsao, Tsu-Chin .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2020, 25 (01) :349-359

[8] Semiautomated optical coherence tomography-guided robotic surgery for porcine lens removal [J].

Chen, Cheng-Wei ;

Francone, Anibal Andres ;

Gerber, Matthew J. ;

Lee, Yu-Hsiu ;

Govetto, Andrea ;

Tsao, Tsu-Chin ;

Hubschman, Jean-Pierre .

JOURNAL OF CATARACT AND REFRACTIVE SURGERY, 2019, 45 (11) :1665-1669

[9] Intraocular robotic interventional surgical system (IRISS): Semi-automated OCT-guided cataract removal [J].

Chen, Cheng-Wei ;

Lee, Yu-Hsiu ;

Gerber, Matthew J. ;

Cheng, Harrison ;

Yang, Yan-Chao ;

Govetto, Andrea ;

Francone, Anibal Andres ;

Soatto, Stefano ;

Grundfest, Warren S. ;

Hubschman, Jean-Pierre ;

Tsao, Tsu-Chin .

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2018, 14 (06)

[10] Wireless Intraocular Pressure Sensing Using Microfabricated Minimally Invasive Flexible-Coiled LC Sensor Implant [J].

Chen, Po-Jui ;

Saati, Saloomeh ;

Varma, Rohit ;

Humayun, Mark S. ;

Tai, Yu-Chong .

JOURNAL OF MICROELECTROMECHANICAL SYSTEMS, 2010, 19 (04) :721-734

← 1 2 3 →