Retinal vessel cannulation with an image-guided handheld robot

Brian C. Becker, Sandrine Voros, Louis A. Lobes, James T. Handa, Gregory D. Hager, Cameron N. Riviere

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

Abstract

Cannulation of small retinal vessels is often prohibitively difficult for surgeons, since physiological tremor often exceeds the narrow diameter of the vessel (40-120 μm). Using an active handheld micromanipulator, we introduce an image-guided robotic system that reduces tremor and provides smooth, scaled motion during the procedure. The micromanipulator assists the surgeon during the approach, puncture, and injection stages of the procedure by tracking the pipette and anatomy viewed under the microscope. In experiments performed ex vivo by an experienced retinal surgeon on 40-60 μm vessels in porcine eyes, the success rate was 29% (2/7) without the aid of the system and 63% (5/8) with the aid of the system.

Original languageEnglish (US)
Title of host publication2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Pages5420-5423
Number of pages4
DOIs
StatePublished - Dec 1 2010
Event2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 - Buenos Aires, Argentina
Duration: Aug 31 2010Sep 4 2010

Publication series

Name2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10

Other

Other2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
CountryArgentina
CityBuenos Aires
Period8/31/109/4/10

ASJC Scopus subject areas

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

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  • Cite this

    Becker, B. C., Voros, S., Lobes, L. A., Handa, J. T., Hager, G. D., & Riviere, C. N. (2010). Retinal vessel cannulation with an image-guided handheld robot. In 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 (pp. 5420-5423). [5626493] (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10). https://doi.org/10.1109/IEMBS.2010.5626493