A Robotic Diathermy System for Automated Capsulotomy
Ullrich F, Lussi J, Chatzopoulos V, Michels S, Petruska AJ, Nelson BJ (2018)
Publication Type: Journal article
Publication year: 2018
Journal
Book Volume: 3
Article Number: 1850001
Journal Issue: 1
DOI: 10.1142/S2424905X18500010
Abstract
Background: Cataracts are the leading cause of blindness and are treated surgically. Capsulotomy describes the opening of the lens capsule during this surgery and is most commonly performed by manual tearing, thermal cutting, or laser ablation. This work focuses on the development of a flexible instrument for high precision capsulotomy, whose motion is controlled by a hybrid mechanical-magnetic actuation system. Methods: A flexible instrument with a magnetic tip was directed along a circular path with a hybrid mechanical-magnetic actuation system. The system's motion control and thermal cutting behavior were tested on ex vivo porcine lenses. Results: Position control of the magnetic tip on a circular path with radius of 2.9mm resulted in a relative positioning error of 3% at a motion period of 60s. The instrument's accuracy improves with decreasing speed. A fully automated capsulotomy is achieved on an ex vivo porcine lens capsule by continuously coagulating the tissue under controlled conditions. Conclusions: Robot assisted capsulotomy can be performed with excellent precision in ex vivo conditions.
Involved external institutions
Eidgenössische Technische Hochschule Zürich (ETHZ) / Swiss Federal Institute of Technology in Zurich
Switzerland (CH)
Colorado School of Mines
United States (USA) (US)
Stadtspital Triemli / Triemli Hospital
Switzerland (CH)
Switzerland (CH)
Colorado School of Mines
United States (USA) (US)
Stadtspital Triemli / Triemli Hospital
Switzerland (CH)
How to cite
APA:
Ullrich, F., Lussi, J., Chatzopoulos, V., Michels, S., Petruska, A.J., & Nelson, B.J. (2018). A Robotic Diathermy System for Automated Capsulotomy. Journal of Medical Robotics Research, 3(1). https://dx.doi.org/10.1142/S2424905X18500010
MLA:
Ullrich, Franziska, et al. "A Robotic Diathermy System for Automated Capsulotomy." Journal of Medical Robotics Research 3.1 (2018).
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