title: Microsurgical robotic system for vitreoretinal surgery.
abstract: OBJECTIVE
  Robotics may improve vitreoretinal surgery by steadying hand motion, thereby reducing negative outcomes. This study aimed to develop a microsurgical robot for vitreoretinal surgery and to perform clinical procedures using robot-assisted interventions.
  
  
  METHODS
  A microsurgical system for vitreoretinal surgery was designed to meet specific requirements for the degree of freedom, accuracy, and workspace. The system was intended to provide micrometer accurate manipulation within the eye. The slave manipulator has a tool change mechanism for switching surgical instruments. The slave manipulator is controlled by the surgeon using a master manipulator consisting of multiple joints.
  
  
  RESULTS
  The robotic system was used to carry out microcannulation experiments on a pig's eye. A surgeon was able to successfully perform microcannulation.
  
  
  CONCLUSIONS
  This microsurgical robotic vitreoretinal surgical system showed superior operability compared with a traditional manual procedure, and it demonstrated sufficient potential to warrant further testing in animal trials to assess its clinical feasibility.
authors.affiliation: School of Engineering, The University of Tokyo, Tokyo, Japan. ida@nml.t.u-tokyo.ac.jp
authors.forename: Yoshiki
authors.initials: Y
authors.lastname: Ida
authors.forename: Naohiko
authors.initials: N
authors.lastname: Sugita
authors.forename: Takashi
authors.initials: T
authors.lastname: Ueta
authors.forename: Yasuhiro
authors.initials: Y
authors.lastname: Tamaki
authors.forename: Keiji
authors.initials: K
authors.lastname: Tanimoto
authors.forename: Mamoru
authors.initials: M
authors.lastname: Mitsuishi
mesh_terms: D000818:Animals; D004867:Equipment Design; D066298:In Vitro Techniques; D008866:Microsurgery / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D013552:Swine; D057586:Vitreoretinal Surgery / Q000295:instrumentation*