Evidence map›Paper›PMID 36212509›Full record

Article... International Symposium on Medical Robotics. International Symposium on Medical Robotics2022

Optimization-based Concurrent Control of a High Dexterity Robot for Vitreoretinal Surgery.

Kaiyu Shi, Yishun Zhou, Ali Ebrahimi, Gang Li, Iulian Iordachita

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in ... International Symposium on Medical Robotics. International Symposium on Medical Robotics, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it
0cells of the map it votes in
0citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

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.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

5 authors.

Kaiyu ShiDepartment of Mechanical Engineering and the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA.
Yishun ZhouDepartment of Mechanical Engineering and the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA.
Ali EbrahimiDepartment of Mechanical Engineering and the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA.
Gang LiDepartment of Mechanical Engineering and the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA.
Iulian IordachitaDepartment of Mechanical Engineering and the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD 21218 USA.

Funding

Enabling technology for image-guided robot-assisted sub-retinal injectionsR01EB025883 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI IORDACHITA, IULIAN IOAN · 2019 to 2021
$1.5M
NIBIB NIH HHS R01 EB025883
6 · The paper itself

Abstract

Vitreoretinal surgery requires dexterity and force sensitivity from the clinician. A system to cooperatively control an integrated surgical robot for high dexterity manipulation within the eye's vitreous space was developed and validated in simulation. The system is composed of a 2 degrees of freedom (DoF) snake-like continuum manipulator that is attached to the end-effector of a 5-DoF rigid robot arm. It is capable of receiving position and orientation commands from a 5-DoF input device in real-time, as well as following pre-planned trajectories. The manipulator is moved to each target pose in real-time, using an optimization method to calculate the inverse kinematics solution. Constraints on the position and orientation ensure the target pose does not harm the patient within the vitreous space, enabling the robot to safely assist the clinician with vitreoretinal surgery when operating in real-time. The simulation demonstrates the system's feasibility and benefits over the existing non-dexterous system.

Indexed as

high dexteritymedical roboticsoptimizationretinal surgerysimulation

Identifiers

PMID36212509
PMCPMC9540340

What OpenQuestion holds

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Registered trials

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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.