Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: In-Vivo Study.

Journal: IEEE transactions on bio-medical engineering
PMID: 34550878

Abstract

OBJECTIVE: Retinal vein cannulation is a technically demanding surgical procedure and its feasibility may rely on using advanced surgical robots equipped with force-sensing microneedles. Reliable detection of the moment of venous puncture is important, to either alert or prevent the clinician from double puncturing the vessel and damaging the retinal surface beneath. This paper reports the first in-vivo retinal vein cannulation trial on rabbit eyes, using sensorized metal needles, and investigates puncture detection.

Authors

  • Alireza Alamdar
  • Niravkumar Patel
  • Muller Urias
  • Ali Ebrahimi
    Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD.
  • Peter Gehlbach
  • Iulian Iordachita
    Laboratory for Computational Sensing and Robotics (LCSR), The Johns Hopkins University, Baltimore, MD, USA.

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