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• W1966360513 abstract "Injecting clot-busting drugs such as t-PA into tiny vessels thinner than a human hair in the eye is a challenging procedure, especially since the vessels lie directly on top of the delicate and easily damaged retina. Various robotic aids have been proposed with the goal of increasing safety by removing tremor and increasing precision with motion scaling. We have developed a fully handheld micromanipulator, Micron, that has demonstrated reduced tremor when cannulating porcine retinal veins in an open sky scenario. In this paper, we present work towards handheld robotic cannulation with the goal of vision-based virtual fixtures guiding the tip of the cannula to the vessel. Using a realistic eyeball phantom, we address sclerotomy constraints, eye movement, and non-planar retina. Preliminary results indicate a handheld micromanipulator aided by visual control is a promising solution to retinal vessel occlusion." @default.
• W1966360513 created "2016-06-24" @default.
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• W1966360513 date "2012-06-01" @default.
• W1966360513 modified "2023-09-29" @default.
• W1966360513 title "Towards vision-based control of a handheld micromanipulator for retinal cannulation in an eyeball phantom" @default.
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• W1966360513 doi "https://doi.org/10.1109/biorob.2012.6290813" @default.
• W1966360513 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/3955894" @default.
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