ArticleInternational journal of computer assisted radiology and surgery2019
Combined OCT distance and FBG force sensing cannulation needle for retinal vein cannulation: in vivo animal validation.
Article in International journal of computer assisted radiology and surgery, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 17 papers.
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Who cites it
17 citing papers in PubMed.
- Motion Compensation and Adaptive Force Control via iOCT-FBG Sensor Fusion for Robotic Subretinal Injection.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2026Article
- Technical advances in robotic retinal surgery: a systematic review and future research directions.Journal of robotic surgery · 2026Review
- Deep Learning-Enhanced Robotic Subretinal Injection with Real-Time Retinal Motion Compensation.IEEE International Conference on Automation Science and Engineering (CASE) : [proceedings]. IEEE Conference on Automation Science and Engineering · 2025Article
- A-scan sequence transformers for palpation with optical coherence elastography.Biomedical optics express · 2025Article
- Robotics and optical coherence tomography: current works and future perspectives [Invited].Biomedical optics express · 2025Review
- A Review of Recent Advancements in Sensor-Integrated Medical Tools.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2024Review
- An optically-guided cochlear implant sheath for real-time monitoring of electrode insertion into the human cochlea.Scientific reports · 2022Article
- Robotic Assistance for Intraocular Microsurgery: Challenges and Perspectives.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: In-Vivo Study.IEEE transactions on bio-medical engineering · 2022Article
- An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery.Frontiers in robotics and AI · 2022Article
- A Comparison of Manual and Robot Assisted Retinal Vein Cannulation in Chicken Chorioallantoic Membrane.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2020Article
- Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2020Article
- Fiber optical shape sensing of flexible instruments for endovascular navigation.International journal of computer assisted radiology and surgery · 2019Article
- Dual-Stiffness Force-Sensing Cannulation Tool for Retinal Microsurgery.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2019Article
- Autonomous Needle Navigation in Retinal Microsurgery: Evaluation inIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
- Exploring An External Approach to Subretinal Drug Delivery via Robot Assistance and B-Mode OCT.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
- Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
Corrections and comments
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Authors and funding
22 authors.
Funding
Abstract
purposeRetinal vein cannulation is an experimental procedure during which a clot-dissolving drug is injected into an obstructed retinal vein. However, due to the fragility and minute size of retinal veins, such procedure is considered too risky to perform manually. With the aid of surgical robots, key limiting factors such as: unwanted eye rotations, hand tremor and instrument immobilization can be tackled. However, local instrument anatomy distance and force estimation remain unresolved issues. A reliable, real-time local interaction estimation between instrument tip and the retina could be a solution. This paper reports on the development of a combined force and distance sensing cannulation needle, and its experimental validation during in vivo animal trials.
methodsTwo prototypes are reported, relying on force and distance measurements based on FBG and OCT A-scan fibres, respectively. Both instruments provide an 80 [Formula: see text] needle tip and have outer shaft diameters of 0.6 and 2.3 mm, respectively.
resultsBoth prototypes were characterized and experimentally validated ex vivo. Then, paired with a previously developed surgical robot, in vivo experimental validation was performed. The first prototype successfully demonstrated the feasibility of using a combined force and distance sensing instrument in an in vivo setting.
conclusionThe results demonstrate the feasibility of deploying a combined sensing instrument in an in vivo setting. The performed study provides a foundation for further work on real-time local modelling of the surgical scene. This paper provides initial insights; however, additional processing remains necessary.
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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.