title: Evaluation of microsurgical tasks with OCT-guided and/or robot-assisted ophthalmic forceps.
abstract: Real-time intraocular optical coherence tomography (OCT) visualization of tissues with surgical feedback can enhance retinal surgery. An intraocular 23-gauge B-mode forward-imaging co-planar OCT-forceps, coupling connectors and algorithms were developed to form a unique ophthalmic surgical robotic system. Approach to the surface of a phantom or goat retina by a manual or robotic-controlled forceps, with and without real-time OCT guidance, was performed. Efficiency of lifting phantom membranes was examined. Placing the co-planar OCT imaging probe internal to the surgical tool reduced instrument shadowing and permitted constant tracking. Robotic assistance together with real-time OCT feedback improved depth perception accuracy. The first-generation integrated OCT-forceps was capable of peeling membrane phantoms despite smooth tips.
authors.affiliation: Mechanical Engineering, Vanderbilt University, 2400 Highland Ave Nashville, TN 37212, USA ; Vanderbilt Initiative in Surgery and Engineering(ViSE), Vanderbilt University 2525 West End Avenue, 6th Floor, Nashville, TN 37203, USA.
authors.forename: Haoran
authors.initials: H
authors.lastname: Yu
authors.affiliation: Vanderbilt Eye Institute, Vanderbilt University 2311 Pierce Avenue Nashville, TN 37232, USA ; Vanderbilt Initiative in Surgery and Engineering(ViSE), Vanderbilt University 2525 West End Avenue, 6th Floor, Nashville, TN 37203, USA.
authors.forename: Jin-Hui
authors.initials: JH
authors.lastname: Shen
authors.affiliation: Vanderbilt Eye Institute, Vanderbilt University 2311 Pierce Avenue Nashville, TN 37232, USA.
authors.forename: Rohan J
authors.initials: RJ
authors.lastname: Shah
authors.affiliation: Mechanical Engineering, Vanderbilt University, 2400 Highland Ave Nashville, TN 37212, USA ; Vanderbilt Initiative in Surgery and Engineering(ViSE), Vanderbilt University 2525 West End Avenue, 6th Floor, Nashville, TN 37203, USA.
authors.forename: Nabil
authors.initials: N
authors.lastname: Simaan
authors.affiliation: Vanderbilt Eye Institute, Vanderbilt University 2311 Pierce Avenue Nashville, TN 37232, USA ; Vanderbilt Initiative in Surgery and Engineering(ViSE), Vanderbilt University 2525 West End Avenue, 6th Floor, Nashville, TN 37203, USA ; Vanderbilt Biomedical Photonics Laboratories, Vanderbilt University 100 Keck FEL Center, Nashville, TN 37203, USA.
authors.forename: Karen M
authors.initials: KM
authors.lastname: Joos
keywords: (150.5758) Robotic and machine control; (170.3880) Medical and biological imaging; (170.4460) Ophthalmic optics and devices; (170.4470) Ophthalmology; (170.4500) Optical coherence tomography; (170.4580) Optical diagnostics for medicine