Evaluation of a Force-Sensing Handheld Robot for Assisted Retinal Vein Cannulation*

摘要: Approximately 16.4 million people are affected by retinal vein occlusion (RVO) resulting from hypercoagulability, low blood flow or thrombosis in the central branched veins. Most common current treatments for RVO aim to limit damage. In recent years, an experimental procedure, cannulation (RVC) has been studied animal models as well human eye models. RVC is a procedure targeted delivery of therapeutic agent into occluded dissolving thrombi. Although effective treatment demonstrated via RVC, performing this manually still remains at limits skills. requires precisely insert thin cannula delicate vein, and maintain it inside throughout infusion. The needle-vein interaction forces too small sense even expert surgeon. work, we present evaluation study handheld robotic assistant with force-sensing microneedle RVC. system actively cancels hand tremor, detects venous puncture based on detected tool-tissue forces, stabilizes needle after reduced trauma prolonged Experiments performed cannulating vasculature fertilized chicken eggs. Results show 100% success detection significantly position drift stabilization aid system.