A Comparison of Manual and Robot Assisted Retinal Vein Cannulation in Chicken Chorioallantoic Membrane

Niravkumar Patel, Muller Urias, Changyan He, Peter L. Gehlbach, Iulian Iordachita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Retinal vein occlusion (RVO) is a vision threatening condition occurring in the central or the branch retinal veins. Risk factors include but are not limited to hypercoagulability, thrombus or other cause of low blood flow. Current clinically proven treatment options limit complications of vein occlusion without treating the causative occlusion. In recent years, a more direct approach called Retinal Vein Cannulation (RVC) has been explored both in animal and human eye models. Though RVC has demonstrated potential efficacy, it remains a challenging and risky procedure that demands precise needle manipulation to achieve safely. During RVC, a thin cannula (diameter 70-110 μm) is delicately inserted into a retinal vein. Its intraluminal position is maintained for up to 2 minutes while infusion of a therapeutic drug occurs. Because the tool-tissue interaction forces at the needle tip are well below human tactile perception, a robotic assistant combined with a force sensing microneedle could alleviate the challenges of RVC. In this paper we present a comparative study of manual and robot assisted retinal vein cannulation in chicken chorioallantoic membrane (CAM) using a force sensing microneedle tool. The results indicate that the average puncture force and average force during the infusion period are larger in manual mode than in robot assisted mode. Moreover, retinal vein cannulation was more stable during infusion, in robot assisted mode.

Original languageEnglish (US)
Title of host publication42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society
Subtitle of host publicationEnabling Innovative Technologies for Global Healthcare, EMBC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5101-5105
Number of pages5
ISBN (Electronic)9781728119908
DOIs
StatePublished - Jul 2020
Event42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020 - Montreal, Canada
Duration: Jul 20 2020Jul 24 2020

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume2020-July
ISSN (Print)1557-170X

Conference

Conference42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020
CountryCanada
CityMontreal
Period7/20/207/24/20

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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