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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 
Title:
Towards Robotic-Assisted Subretinal Injection: A Hybrid Parallel-Serial Robot System Design and Preliminary Evaluation 
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:
Pages contribution:
6617-6628 
Fulltext / DOI:
Print-ISSN:
0278-0046 
TUM Institution:
Klinik und Poliklinik für Augenheilkunde