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An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery

Retinal vein injection guided by microscopic image is an innovative procedure for treating retinal vein occlusion. However, the retina organization is complex, fine, and weak, and the operation scale and force are small. Surgeons’ limited operation and force-sensing accuracy make it difficult to per...

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Autores principales: Li, Zhen, Fu, Pan, Wei, Bing-Ting, Wang, Jie, Li, An-Long, Li, Ming-Jun, Bian, Gui-Bin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9382114/
https://www.ncbi.nlm.nih.gov/pubmed/35991847
http://dx.doi.org/10.3389/frobt.2022.913930
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author Li, Zhen
Fu, Pan
Wei, Bing-Ting
Wang, Jie
Li, An-Long
Li, Ming-Jun
Bian, Gui-Bin
author_facet Li, Zhen
Fu, Pan
Wei, Bing-Ting
Wang, Jie
Li, An-Long
Li, Ming-Jun
Bian, Gui-Bin
author_sort Li, Zhen
collection PubMed
description Retinal vein injection guided by microscopic image is an innovative procedure for treating retinal vein occlusion. However, the retina organization is complex, fine, and weak, and the operation scale and force are small. Surgeons’ limited operation and force-sensing accuracy make it difficult to perform precise and stable drug injection operations on the retina in a magnified field of image vision. In this paper, a 3-DOF automatic drug injection mechanism was designed for microscopic image guiding robot-assisted needle delivery and automatic drug injection. Additionally, the robot-assisted real-time three-dimensional micro-force-sensing method for retinal vein injection was proposed. Based on the layout of three FBG sensors on the hollow outer wall of the nested needle tube in a circular array of nickel-titanium alloys, the real-time sensing of the contact force between the intraoperative instrument and the blood vessel was realized. The experimental data of 15 groups of porcine eyeball retinal veins with diameters of 100–200 μm showed that the piercing force of surgical instruments and blood vessels is 5.95∼12.97 mN, with an average value of 9.98 mN. Furthermore, 20 groups of experimental measurements on chicken embryo blood vessels with diameters of 150–500 μm showed that the piercing force was 4.02∼23.4 mN, with an average value of 12.05 mN.
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spelling pubmed-93821142022-08-18 An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery Li, Zhen Fu, Pan Wei, Bing-Ting Wang, Jie Li, An-Long Li, Ming-Jun Bian, Gui-Bin Front Robot AI Robotics and AI Retinal vein injection guided by microscopic image is an innovative procedure for treating retinal vein occlusion. However, the retina organization is complex, fine, and weak, and the operation scale and force are small. Surgeons’ limited operation and force-sensing accuracy make it difficult to perform precise and stable drug injection operations on the retina in a magnified field of image vision. In this paper, a 3-DOF automatic drug injection mechanism was designed for microscopic image guiding robot-assisted needle delivery and automatic drug injection. Additionally, the robot-assisted real-time three-dimensional micro-force-sensing method for retinal vein injection was proposed. Based on the layout of three FBG sensors on the hollow outer wall of the nested needle tube in a circular array of nickel-titanium alloys, the real-time sensing of the contact force between the intraoperative instrument and the blood vessel was realized. The experimental data of 15 groups of porcine eyeball retinal veins with diameters of 100–200 μm showed that the piercing force of surgical instruments and blood vessels is 5.95∼12.97 mN, with an average value of 9.98 mN. Furthermore, 20 groups of experimental measurements on chicken embryo blood vessels with diameters of 150–500 μm showed that the piercing force was 4.02∼23.4 mN, with an average value of 12.05 mN. Frontiers Media S.A. 2022-08-03 /pmc/articles/PMC9382114/ /pubmed/35991847 http://dx.doi.org/10.3389/frobt.2022.913930 Text en Copyright © 2022 Li, Fu, Wei, Wang, Li, Li and Bian. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Li, Zhen
Fu, Pan
Wei, Bing-Ting
Wang, Jie
Li, An-Long
Li, Ming-Jun
Bian, Gui-Bin
An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery
title An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery
title_full An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery
title_fullStr An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery
title_full_unstemmed An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery
title_short An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery
title_sort automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9382114/
https://www.ncbi.nlm.nih.gov/pubmed/35991847
http://dx.doi.org/10.3389/frobt.2022.913930
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