Technical Brief

Design and Research of a Robotic Aided System for Retinal Vascular Bypass Surgery

[+] Author and Article Information
Xiao Jingjing, Huang Long

School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China

Shen Lijun

Eye Hospital of Wenzhou Medical College,
Zhejiang 325027, China

Yang Yang

School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China
e-mail: yang_mech@buaa.edu.cn

1Corresponding author.

Manuscript received July 25, 2013; final manuscript received March 6, 2014; published online xx xx, xxxx. Assoc. Editor: Carl Nelson.

J. Med. Devices 8(4), 044501 (Aug 19, 2014) (6 pages) Paper No: MED-13-1181; doi: 10.1115/1.4027230 History: Received July 25, 2013; Revised March 06, 2014

With reference to the study of the robotic system for ophthalmology microsurgery, a robotic system was presented with the key mechanism design and control subsystem scheme considering the procedures and features of retinal vascular bypass surgery. After discussion of the clinical application, the human-machine cooperated surgical process of the robotic system for retinal vascular bypass surgery was described, and the design of the surgical layout environment was proposed. The intraocular motion planning method was also described and corresponding experiments using a table tennis ball model and an in vitro porcine eye model were performed. Finally, the feasibility analysis and robotic system error analysis were also summarized and future works discussed for further research.

Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.


Shen, L. J., Chen, Y. Q., Wei, L. L., Wu, W., Wang, Z. Y., Liu, Y., Lu, F., and Qu, J., 2009, “Bypassing Occluded Retinal Main Vessel Segments in Isolated Arterially Perfused Caprine Eyes,” Current eye research, 34(6), pp. 415–420. [CrossRef] [PubMed]
Guerrouad, A., and Vidal, P., 1989, “SMOS: Stereotaxical Microtelemanipulator for Ocular Surgery,” Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Seattle, WA, November 9–12, pp. 879–880. [CrossRef]
Yu, D. Y., Cringle, S. J., and Constable, I. J., 1998, “Robotic Ocular Ultramicrosurgery,” Australian and New Zealand journal of ophthalmology, 26(S1), pp. S6–S8. [CrossRef] [PubMed]
Grace, K. W., 1995, Kinematic Design of an Ophthalmic Surgery Robot and Feature Extracting Bilateral Manipulation, Northwestern University, Chicago, IL.
Charles, S., Das, H., Ohm, T., Boswell, C., Rodriguez, G., Steele, R., and Istrate, D., 1997, “Dexterity-Enhanced Telerobotic Microsurgery,” 8th International Conference on Advanced Robotics (ICAR '97), Monterey, CA, July 7–9, pp. 5–10. [CrossRef]
Wei, W., Goldman, R., Simaan, N., Fine, H., and Stanley, C., 2007, “Design and Theoretical Evaluation of Micro–Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity,” IEEE International Conference on Robotics and Automation, Rome, Italy, April 10–14, pp. 3389–3395. [CrossRef]
Ueta, T., Yamaguchi, Y., Shirakawa, Y., Nakano, T., Ideta, R., Noda, Y., Morita, A., Mochizuki, R., Sugita, N., Mitsuishi, M., and Tamaki, Y., 2009, “Robot-Assisted Vitreoretinal Surgery: Development of a Prototype and Feasibility Studies in an Animal Model,” Ophthalmology, 116(8), pp. 1538–1543. [CrossRef] [PubMed]
Üneri, A., Balicki, M. A., Handa, J., Gehlbach, P., Taylor, R. H., and Iordachita, I., 2010, “New Steady-Hand Eye Robot With Micro-Force Sensing for Vitreoretinal Surgery,” 3rd IEEE, RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Tokyo, Japan, September 26–29, pp. 814–819. [CrossRef]
Yang, Y., Deng, S. J., Xiao, J. J., and Xu, C. L., 2010, “Design and Research of a Corneal Grafting Robotic System,” 2010 International Conference on Digital Manufacturing and Automation (ICDMA), Changsha, China, December 18–20, pp. 486–490. [CrossRef]
Chen, Y. Q., 2010, In Vivo Retinal Vein Bypass Surgery in a Porcine Model, Wenzhou Medical College, Wenzhou, China.
Huang, L., Zhang, L. Y., Yang, Y., Shen, L. J., and Chen, Y. Q., 2012, “Design and Analysis of a Robot-Assisted Manipulator in Retinal Vascular Bypass Surgery,” Appl. Mech. Materials, 190–191, pp. 673–678. [CrossRef]


Grahic Jump Location
Fig. 3

Schematic diagram of motion parallel to the retinal surface

Grahic Jump Location
Fig. 2

System description: (a) photograph of the robotic system and (b) the schematic diagram. (c) A 2 degrees of freedom RCM structure consists of a revolute pair combined with (d) a dual-parallelogram-based mechanism. (e) Custom-made end-effectors of the two manipulators. (f) Control subsystem schematics. (g) The human-machine cooperative surgical procedures and (h) its layout environmental scheme, including ① left manipulator and vibration isolation table, ② right manipulator and vibration isolation table, ③ microscope, ④ patient and operating table, ⑤ main surgeon and his control panel on main surgeon controller, ⑥ nurse, ⑦ surgeon assistant and PC and robot controller, and ⑧ view field display of microscope.

Grahic Jump Location
Fig. 1

Scenarios of RVBS. Left: micro scenario. Right: macro scenario.

Grahic Jump Location
Fig. 4

(a) Experiments on a table tennis ball model and (b) an in vitro porcine eye model. (c) Path simulation of instrument tip in the motion parallel to the retinal surface and (d) flow chart of procedures.

Grahic Jump Location
Fig. 5

Distribution of relative position error for end-effector: (a) overview picture, (b) XOY projection, and (c) XOZ projection




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In