Evidence map›Paper›PMID 41583546›Full record

ArticleIEEE transactions on medical robotics and bionics2025

Bimanual Robotic Eye Manipulation Using Adaptive Sclera Force Control: Towards Safe Retinal Vein Cannulation.

Mojtaba Esfandiari, Ji Woong Kim, Peiyao Zhang, Jacob S Heng, Peter Gehlbach, Russell H Taylor, Iulian I Iordachita

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PubMed Full text at PMC Publisher
In one paragraph

Article in IEEE transactions on medical robotics and bionics, 2025. 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

7 authors.

Mojtaba EsfandiariDepartment of Mechanical Engineering and also the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA.
Ji Woong KimDepartment of Mechanical Engineering and also the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA.
Peiyao ZhangDepartment of Mechanical Engineering and also the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA.
Jacob S HengWilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD, 21287, USA.
Peter GehlbachWilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD, 21287, USA.
Russell H TaylorDepartment of Computer Science and also the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA.
Iulian I IordachitaDepartment of Mechanical Engineering and also the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA.

Funding

Enabling Technology for Safe Robot-assisted Surgical MicromanipulationR01EB023943 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI GEHLBACH, PETER LOUIS, IORDACHITA, IULIAN IOAN · 2017 to 2024
$2.3M
Enabling technology for image-guided robot-assisted sub-retinal injectionsR01EB025883 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI IORDACHITA, IULIAN IOAN · 2019 to 2021
$1.5M
Enabling Dexterous Intraocular Surgery with Robotic AssistanceR01EB034397 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI IULIAN IOAN IORDACHITA · 2024 to 2026
$1.2M
NIBIB NIH HHS R01 EB023943NIBIB NIH HHS R01 EB025883NIBIB NIH HHS R01 EB034397
6 · The paper itself

Abstract

Retinal surgery typically requires bimanual manipulation of tools in the eye. Freehand retinal vein cannulation (RVC) is a highly challenging operation mainly due to typical hand tremors relative to the small size of retinal veins. Robot-assisted technology resolves hand tremor issues and gives ophthalmologists higher positioning resolution to enable RVC. Bimanual robot manipulation of the eyeball typically requires kinematics-based control to maintain each robotic tool's remote center of motion (RCM) constraint and registration between the two robots to avoid scleral injury. Any potential relative movement of the robot base can impact patient safety. To avoid these problems, we developed a bimanual adaptive cooperative (BMAC) control framework. Each robot is independently controlled via a hybrid adaptive position-force control algorithm using fiber Bragg grating-based force-sensing surgical instruments. This algorithm minimizes the tool-sclera interaction forces automatically, resulting in maintaining the sclera forces within a safe threshold and avoiding over-stretch of the sclera, which guarantees patient safety despite the absence of kinematic RCM constraint and registration of the two robots. The effectiveness of this approach is validated through a pilot study with five users in a vessel-following experiment on an eye phantom under a surgical microscope.

Indexed as

adaptive sclera force controlbimanual manipulationretinal vein cannulationRobotic retinal surgery

Identifiers

PMID41583546
PMCPMC12829964

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.