Original articleRobot-Assisted Vitreoretinal Surgery: Development of a Prototype and Feasibility Studies in an Animal Model
Section snippets
Robotic System
The robotic system consisted of the master controller and the slave manipulator set on different tables in the same experiment room. The master and slave communicate through real-time computer systems (operating system, VX Works by Wind River Systems; Alameda, CA) every 10 ms via the local area network. Input to the master system is presented at the slave system, scaled down 40:1 to increase the accuracy of the surgical procedures. An overview of the total system is shown in Figure 1.
The
Pointing Accuracy Tests on Graph Paper
The average (standard deviation) of the 3 largest distances between the aiming point and the tip of the instrument during the task was 327.0 (121.1) μm by hand (Video 2, available at http://aaojournal.org) and 32.3 (4.5) μm by robotic control (Video 3, available at http://aaojournal.org). Depending on the examinees, the range was 185 to 575 μm when manually performed, whereas it was 30 to 39 μm through the robotic system. By introducing robotic assistance, not only the accuracy was improved,
Discussion
Current robot-assisted surgeries on human patients largely are performed via the da Vinci system (Intuitive Surgical Corporation, Sunnyvale, CA). Using the da Vinci system, repair of a corneal laceration in a harvested porcine eye model was reported.13 However, because the da Vinci system has 10-mm wide arm shafts, development of a different robotic system is a prerequisite to achieve robot-assisted vitreoretinal surgery.
Several designs of robot-assisted vitreoretinal surgery have been pursued
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Manuscript no. 2008-1267.
Financial Disclosure(s): The author(s) have no proprietary or commercial interest in any materials discussed in this article.
Supported by 3.2 million Japanese Yen (2007–2008) from Grant-in-Aid (N0.19659443) of the Ministry of Education, Culture, Sports, Science and Technology of Japan, Chiyoda-ku, Tokyo, Japan.