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

doi:10.1109/IEMBS.2010.5626493

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 proceeding › Conference 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 language	English (US)
Title of host publication	2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Pages	5420-5423
Number of pages	4
DOIs	https://doi.org/10.1109/IEMBS.2010.5626493
State	Published - Dec 1 2010
Event	2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 - Buenos Aires, Argentina Duration: Aug 31 2010 → Sep 4 2010

Publication series

Name	2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10

Other

Other	2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Country	Argentina
City	Buenos Aires
Period	8/31/10 → 9/4/10

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

Retinal vessel cannulation with an image-guided handheld robot. / Becker, Brian C.; Voros, Sandrine; Lobes, Louis A.; Handa, James T.; Hager, Gregory D.; Riviere, Cameron N.

2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10. 2010. p. 5420-5423 5626493 (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Becker, BC, Voros, S, Lobes, LA, Handa, JT , Hager, GD & Riviere, CN 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., 5626493, 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10, pp. 5420-5423, 2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10, Buenos Aires, Argentina, 8/31/10. https://doi.org/10.1109/IEMBS.2010.5626493

Becker BC, Voros S, Lobes LA, Handa JT , Hager GD, Riviere CN. 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. 2010. p. 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

Becker, Brian C. ; Voros, Sandrine ; Lobes, Louis A. ; Handa, James T. ; Hager, Gregory D. ; Riviere, Cameron N. / Retinal vessel cannulation with an image-guided handheld robot. 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10. 2010. pp. 5420-5423 (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10).

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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.",

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