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Title:

Towards Robotic-Assisted Subretinal Injection: A Hybrid Parallel-Serial Robot System Design and Preliminary Evaluation

Document type:
Article
Author(s):
Zhou, Mingchuan; Yu, Qiming; Huang, Kai; Mahov, Simeon; Eslami, Abouzar; Maier, Mathias; Lohmann, Chris P.; Navab, Nassir; Zapp, Daniel; Knoll, Alois; Nasseri, M. Ali
Abstract:
Subretinal injection is a delicate and complex microsurgery. The main surgical difficulties come from the surgeon's hand tremor, dexterous motion, and insufficient visual feedback. In order to begin addressing these challenges, this article presents a robot system for subretinal insertion integrated with intraoperative optical coherence tomography (OCT). The surgical workflow using this system consists of two main parts. The first part is the manual robot control, which aims the target before ap...     »
Journal title abbreviation:
IEEE Trans. Ind. Electron.
Year:
2020
Journal volume:
67
Journal issue:
8
Pages contribution:
6617-6628
Fulltext / DOI:
doi:10.1109/TIE.2019.2937041
Print-ISSN:
0278-0046
TUM Institution:
Klinik und Poliklinik für Augenheilkunde
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