Towards Robot-Assisted Retinal Vein Cannulation: A Motorized Force-Sensing Microneedle Integrated with a Handheld Micromanipulator †.

摘要: Retinal vein cannulation is a technically demanding surgical procedure where therapeutic agents are injected into the retinal veins to treat occlusions. The clinical feasibility of this approach has been largely limited by technical challenges associated with performing procedure. Among successful identifying moment venous puncture, achieving micro-vessel, and maintaining throughout drug delivery. Recent advances in medical robotics sensing tool-tissue interaction forces have potential address each these as well prevent tissue trauma, minimize complications, diminish surgeon effort, ultimately promote cannulation. In paper, we develop an assistive system combining handheld micromanipulator, called “Micron”, force-sensing microneedle. Using system, examine two distinct methods precisely detecting instant puncture. This based on measured also tracked position needle tip. addition existing tremor canceling function Micron, new control method implemented actively compensate unintended movements operator, keep device securely inside following To demonstrate capabilities performance our uniquely upgraded present multi-user artificial phantom study subjects from three different skill levels. Results show that puncture detection algorithm, when combined active positive holding feature enables sustained which most evident smaller veins. Notable significantly attenuates tool motion vein, thereby reduces trauma during