Optic Nerve Sheath Fenestration With a Multi-Arm Continuum Robot

被引:21
|
作者
Mitros, Zisos [1 ,2 ]
Sadati, Seyedmohaininadhadi [1 ]
Seneci, Carlo [1 ]
Bloch, Edward [2 ,3 ]
Leibrandt, Konrad [2 ]
Khadem, Mohsen [4 ]
da Cruz, Lyndon [2 ,3 ]
Bergeles, Christos [1 ]
机构
[1] Kings Coll London, Sch Biomed Engn & Imaging Sci, Robot & Vis Med RViM Lab, London E14 3WF, England
[2] UCL, Wellcome EPSRC Ctr Intervent & Surg Sci, London WC1E 6BT, England
[3] Moorfields Eye Hosp, London EC1V 2PD, England
[4] Univ Edinburgh, Sch Informat, Edinburgh EH8 9AB, Midlothian, Scotland
来源
基金
英国惠康基金; 欧洲研究理事会;
关键词
Surgical robotics: steerable catheters/needles; mechanism design; medical robots and systems;
D O I
10.1109/LRA.2020.3005129
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This article presents a medical robotic system for deep orbital interventions, with a focus on Optic Nerve Sheath Fenestration (ONSF). ONSF is a currently invasive ophthalmic surgical approach that can reduce potentially blinding elevated hydrostatic intracranial pressure on the optic disc via an incision on the optic nerve. The prototype is a multi-arm system capable of dexterous manipulation and visualization of the optic nerve area, allowing for a minimally invasive approach. Each arm is an independently controlled concentric tube robot collimated by a bespoke guide that is secured on the eye sclera via sutures. In this article, we consider the robot's end-effector design in order to reach/navigate the optic nerve according to the clinical requirements of ONSF. A prototype of the robot was engineered, and its ability to penetrate the optic nerve was analysed by conducting ex rim experiments on porcine optic nerves and comparing their stiffness to human ones. The robot was successfully deployed in a custom-made realistic eye phantom. Our simulation studies and experimental results demonstrate that the robot can successfully navigate to the operation site and carry out the intervention.
引用
收藏
页码:4874 / 4881
页数:8
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