Automated capsulorhexis based on a hybrid magnetic-mechanical actuation system

Author

Ullrich, Franziska ; Schuerle, Simone ; Pieters, Roel ; Dishy, Avraham ; Michels, Stephan ; Nelson, Bradley J.

Author_Institution

Inst. for Robot. & Intell. Syst. (IRIS, ETH Zurich, Zurich, Switzerland

fYear

2014

fDate

May 31 2014-June 7 2014

Firstpage

4387

Lastpage

4392

Abstract

This paper presents a hybrid magnetic-mechanical manipulation system for automated capsulorhexis utilizing a flexible catheter with a sharp edge magnetic tip. Vision based closed loop control is implemented to guide the tip on a circular path in the anterior eye segment. A continuous motion with high repeatability is achieved. The system shows the first catheter-based application of the electromagnetic manipulation system, OctoMag, for fast and safe ophthalmic surgery that potentially reduces the risk of complications and improves precision.

Keywords

catheters; closed loop systems; electromagnetic actuators; electromechanical actuators; eye; flexible manipulators; medical robotics; motion control; position control; surgery; OctoMag; anterior eye segment; automated capsulorhexis; catheter-based application; circular path; complications risk reduction; continuous motion; electromagnetic manipulation system; flexible catheter; hybrid magnetic-mechanical actuation system; hybrid magnetic-mechanical manipulation system; motion repeatability; ophthalmic surgery; sharp edge magnetic tip; tip guidance; vision based closed loop control; Catheters; Lenses; Magnetic resonance imaging; Magnetic separation; Mathematical model; Surgery; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2014 IEEE International Conference on

Conference_Location

Hong Kong

Type

conf

DOI

10.1109/ICRA.2014.6907498

Filename

6907498