ArticleAnnual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference2016
Robot-assisted retinal vein cannulation with force-based puncture detection: Micron vs. the steady-hand eye robot.
Article in Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
8 citing papers in PubMed, 22 citations in OpenAlex.
- Integrated Piezoelectric Vibration and In Situ Force Sensing for Low-Trauma Tissue Penetration.Cyborg and bionic systems (Washington, D.C.) · 2025Article
- Enhancing needle puncture detection using high-pass filtering and diffuse reflectance.Frontiers in robotics and AI · 2025Article
- A Feasible Workflow for Retinal Vein Cannulation in Ex Vivo Porcine Eyes with Robotic Assistance.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2024Article
- Microsurgery Robots: Applications, Design, and Development.Sensors (Basel, Switzerland) · 2023Review
- Evaluation of the Hand Motion and Peeling Force in Inner Limiting Membrane Peeling.Translational vision science & technology · 2023Article
- Robotic Assistance for Intraocular Microsurgery: Challenges and Perspectives.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- Robot-assisted vitreoretinal surgery: current perspectives.Robotic surgery (Auckland) · 2018Article
- Toward the Art of Robotic-assisted Vitreoretinal Surgery.Journal of ophthalmic & vision researchArticle
Corrections and comments
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Authors and funding
5 authors at 1 institution in 1 country.
Funding
Abstract
Retinal vein cannulation is a demanding procedure where therapeutic agents are injected into occluded retina veins. The feasibility of this treatment is limited due to challenges in identifying the moment of venous puncture, achieving cannulation and maintaining it throughout the drug delivery period. In this study, we integrate a force-sensing microneedle with two distinct robotic systems: the handheld micromanipulator Micron, and the cooperatively controlled Steady-Hand Eye Robot (SHER). The sensed tool-to-tissue interaction forces are used to detect venous puncture and extend the robots' standard control schemes with a new position holding mode (PHM) that assists the operator hold the needle position fixed and maintain cannulation for a longer time with less trauma on the vasculature. We evaluate the resulting systems comparatively in a dry phantom, stretched vinyl membranes. Results have shown that modulating the admittance control gain of SHER alone is not a very effective solution for preventing the undesired tool motion after puncture. However, after using puncture detection and PHM the deviation from the puncture point is significantly reduced, by 65% with Micron, and by 95% with SHER representing a potential advantage over freehand for both.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.