title: Quantitative assessment of manual and robotic microcannulation for eye surgery using new eye model.
abstract: BACKGROUND
  Microcannulation, a surgical procedure for the eye that requires drug injection into a 60-90 µm retinal vein, is difficult to perform manually. Robotic assistance has been proposed; however, its effectiveness in comparison to manual operation has not been quantified.
  
  
  METHODS
  An eye model has been developed to quantify the performance of manual and robotic microcannulation. The eye model, which is implemented with a force sensor and microchannels, also simulates the mechanical constraints of the instrument's movement. Ten subjects performed microcannulation using the model, with and without robotic assistance.
  
  
  RESULTS
  The results showed that the robotic assistance was useful for motion stability when the drug was injected, whereas its positioning accuracy offered no advantage.
  
  
  CONCLUSIONS
  An eye model was used to quantitatively assess the robotic microcannulation performance in comparison to manual operation. This approach could be valid for a better evaluation of surgical robotic assistance.
authors.affiliation: Department of Mechanical Engineering, The University of Tokyo, Japan.
authors.forename: Shinichi
authors.initials: S
authors.lastname: Tanaka
authors.affiliation: Department of Mechanical Engineering, The University of Tokyo, Japan.
authors.forename: Kanako
authors.initials: K
authors.lastname: Harada
authors.affiliation: Department of Mechanical Engineering, The University of Tokyo, Japan.
authors.forename: Yoshiki
authors.initials: Y
authors.lastname: Ida
authors.affiliation: Department of Mechanical Science and Engineering, Nagoya University, Japan.
authors.forename: Kyohei
authors.initials: K
authors.lastname: Tomita
authors.affiliation: Department of Mechanical Science and Engineering, Nagoya University, Japan.
authors.forename: Ippei
authors.initials: I
authors.lastname: Kato
authors.affiliation: Department of Mechanical Science and Engineering, Nagoya University, Japan.
authors.forename: Fumihito
authors.initials: F
authors.lastname: Arai
authors.affiliation: Department of Ophthalmology, The University of Tokyo, Japan.
authors.forename: Takashi
authors.initials: T
authors.lastname: Ueta
authors.affiliation: Department of Ophthalmology, The University of Tokyo, Japan.
authors.forename: Yasuo
authors.initials: Y
authors.lastname: Noda
authors.affiliation: Department of Mechanical Engineering, The University of Tokyo, Japan.
authors.forename: Naohiko
authors.initials: N
authors.lastname: Sugita
authors.affiliation: Department of Mechanical Engineering, The University of Tokyo, Japan.
authors.forename: Mamoru
authors.initials: M
authors.lastname: Mitsuishi
mesh_terms: D000818:Animals; D002404:Catheterization / Q000295:instrumentation / Q000379:methods*; D005123:Eye / Q000033:anatomy & histology*; D005343:Fibrinolytic Agents / Q000008:administration & dosage; D006801:Humans; D008953:Models, Anatomic; D023421:Models, Animal; D013508:Ophthalmologic Surgical Procedures / Q000295:instrumentation / Q000379:methods*; D012169:Retinal Vein / Q000601:surgery; D012170:Retinal Vein Occlusion / Q000188:drug therapy / Q000601:surgery; D065287:Robotic Surgical Procedures / Q000295:instrumentation / Q000379:methods*; D013552:Swine; D015912:Thrombolytic Therapy / Q000379:methods
chemical_list: D005343:Fibrinolytic Agents
keywords: eye surgery; microelectromechanical systems; regulatory science; robotic surgery