ArticleIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation
Intraocular Snake Integrated with the Steady-Hand Eye Robot for Assisted Retinal Microsurgery.
Article in IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
What it found
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The trial behind it
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Who cites it
9 citing papers in PubMed, 22 citations in OpenAlex.
- A Data-Driven Model with Hysteresis Compensation for I... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2024Article
- Microsurgery Robots: Applications, Design, and Development.Sensors (Basel, Switzerland) · 2023Review
- Dual-Resonance (16/32 MHz) Piezoelectric Transducer With a Single Electrical Connection for Forward-Viewing Robotic Guidewire.IEEE transactions on ultrasonics, ferroelectrics, and frequency control · 2022Article
- Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2021Article
- An Integrated High-dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2021Article
- A Review of Robotic and OCT-Aided Systems for Vitreoretinal Surgery.Advances in therapy · 2021Review
- Improved Integrated Robotic Intraocular Snake.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2020Article
- Toward Improving Safety in Neurosurgery with an Active Handheld Instrument.Annals of biomedical engineering · 2018Article
- Improved Integrated Robotic Intraocular Snake: Analyses of the Kinematics and Drive Mechanism of the Dexterous Distal Unit.Journal of medical robotics researchArticle
Corrections and comments
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Authors and funding
4 authors at 2 institutions in 2 countries.
Funding
Abstract
Due to the confined intraocular space and physical constraints in tool manipulation, snake-like robots have a significant potential for use in retinal microsurgery. By enhancing the dexterity at the tool tip, not only the operable space on the retina can be enlarged, but also the delicate target tissues can be reached at an optimal angle minimizing the damage and making the operation much easier. In this study, we present an improved version of our earlier integrated intraocular snake (IRIS) robot, and combine it with another robotic assistant: the cooperatively controlled Steady-Hand Eye Robot (SHER). SHER is used to drive IRIS close to the retina with precision, while IRIS makes omnidirectional bends by combining its yaw and pitch motions and provides a significantly enhanced intraocular dexterity while holding the sclerotomy port fixed. For precise control of IRIS, its snake-like tip actuation has been characterized through experiments considering both a free tool tip and external loading at the tool tip. The workspace analysis showed ±45° yaw and pitch with excellent repeatability (±1°) despite the highly miniaturized articulated segment length (3 mm) and very thin shaft (Ø 0.9 mm). Our preliminary experiments in an artificial eye model have shown feasibility in reaching targets requiring bends up to 55° accurately.
Identifiers
What OpenQuestion holds
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.