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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2412.12314 |
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| _version_ | 1866909430817226752 |
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| author | Zhang, Peiyao Gehlbach, Peter Kobilarov, Marin Iordachita, Iulian |
| author_facet | Zhang, Peiyao Gehlbach, Peter Kobilarov, Marin Iordachita, Iulian |
| contents | A potential Retinal Vein Occlusion (RVO) treatment involves Retinal Vein Cannulation (RVC), which requires the surgeon to insert a microneedle into the affected retinal vein and administer a clot-dissolving drug. This procedure presents significant challenges due to human physiological limitations, such as hand tremors, prolonged tool-holding periods, and constraints in depth perception using a microscope. This study proposes a robot-assisted workflow for RVC to overcome these limitations. The test robot is operated through a keyboard. An intraoperative Optical Coherence Tomography (iOCT) system is used to verify successful venous puncture before infusion. The workflow is validated using 12 ex vivo porcine eyes. These early results demonstrate a successful rate of 10 out of 12 cannulations (83.33%), affirming the feasibility of the proposed workflow. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_12314 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Feasible Workflow for Retinal Vein Cannulation in Ex Vivo Porcine Eyes with Robotic Assistance Zhang, Peiyao Gehlbach, Peter Kobilarov, Marin Iordachita, Iulian Robotics A potential Retinal Vein Occlusion (RVO) treatment involves Retinal Vein Cannulation (RVC), which requires the surgeon to insert a microneedle into the affected retinal vein and administer a clot-dissolving drug. This procedure presents significant challenges due to human physiological limitations, such as hand tremors, prolonged tool-holding periods, and constraints in depth perception using a microscope. This study proposes a robot-assisted workflow for RVC to overcome these limitations. The test robot is operated through a keyboard. An intraoperative Optical Coherence Tomography (iOCT) system is used to verify successful venous puncture before infusion. The workflow is validated using 12 ex vivo porcine eyes. These early results demonstrate a successful rate of 10 out of 12 cannulations (83.33%), affirming the feasibility of the proposed workflow. |
| title | A Feasible Workflow for Retinal Vein Cannulation in Ex Vivo Porcine Eyes with Robotic Assistance |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.12314 |