TY - JOUR
T1 - Combined OCT distance and FBG force sensing cannulation needle for retinal vein cannulation
T2 - in vivo animal validation
AU - Ourak, M
AU - Smits, J
AU - Esteveny, L
AU - Borghesan, G
AU - Gijbels, A
AU - Schoevaerdts, L
AU - Douven, Y
AU - Scholtes, J
AU - Lankenau, E
AU - Eixmann, T
AU - Schulz-Hildebrandt, H
AU - Hüttmann, G
AU - Kozlovszky, M
AU - Kronreif, G
AU - Willekens, K
AU - Stalmans, P
AU - Faridpooya, K
AU - Cereda, M
AU - Giani, A
AU - Staurenghi, G
AU - Reynaerts, D
AU - Vander Poorten, E B
PY - 2019/2
Y1 - 2019/2
N2 - PURPOSE: Retinal vein cannulation is an experimental procedure during which a clot-dissolving drug is injected into an obstructed retinal vein. However, due to the fragility and minute size of retinal veins, such procedure is considered too risky to perform manually. With the aid of surgical robots, key limiting factors such as: unwanted eye rotations, hand tremor and instrument immobilization can be tackled. However, local instrument anatomy distance and force estimation remain unresolved issues. A reliable, real-time local interaction estimation between instrument tip and the retina could be a solution. This paper reports on the development of a combined force and distance sensing cannulation needle, and its experimental validation during in vivo animal trials.METHODS: Two prototypes are reported, relying on force and distance measurements based on FBG and OCT A-scan fibres, respectively. Both instruments provide an 80 [Formula: see text] needle tip and have outer shaft diameters of 0.6 and 2.3 mm, respectively.RESULTS: Both prototypes were characterized and experimentally validated ex vivo. Then, paired with a previously developed surgical robot, in vivo experimental validation was performed. The first prototype successfully demonstrated the feasibility of using a combined force and distance sensing instrument in an in vivo setting.CONCLUSION: The results demonstrate the feasibility of deploying a combined sensing instrument in an in vivo setting. The performed study provides a foundation for further work on real-time local modelling of the surgical scene. This paper provides initial insights; however, additional processing remains necessary.
AB - PURPOSE: Retinal vein cannulation is an experimental procedure during which a clot-dissolving drug is injected into an obstructed retinal vein. However, due to the fragility and minute size of retinal veins, such procedure is considered too risky to perform manually. With the aid of surgical robots, key limiting factors such as: unwanted eye rotations, hand tremor and instrument immobilization can be tackled. However, local instrument anatomy distance and force estimation remain unresolved issues. A reliable, real-time local interaction estimation between instrument tip and the retina could be a solution. This paper reports on the development of a combined force and distance sensing cannulation needle, and its experimental validation during in vivo animal trials.METHODS: Two prototypes are reported, relying on force and distance measurements based on FBG and OCT A-scan fibres, respectively. Both instruments provide an 80 [Formula: see text] needle tip and have outer shaft diameters of 0.6 and 2.3 mm, respectively.RESULTS: Both prototypes were characterized and experimentally validated ex vivo. Then, paired with a previously developed surgical robot, in vivo experimental validation was performed. The first prototype successfully demonstrated the feasibility of using a combined force and distance sensing instrument in an in vivo setting.CONCLUSION: The results demonstrate the feasibility of deploying a combined sensing instrument in an in vivo setting. The performed study provides a foundation for further work on real-time local modelling of the surgical scene. This paper provides initial insights; however, additional processing remains necessary.
KW - Animals
KW - Catheterization/instrumentation
KW - Humans
KW - Micromanipulation/instrumentation
KW - Models, Animal
KW - Needles
KW - Retinal Vein
KW - Retinal Vein Occlusion/surgery
KW - Robotic Surgical Procedures/instrumentation
KW - Swine
KW - Tomography, Optical Coherence/methods
U2 - 10.1007/s11548-018-1829-0
DO - 10.1007/s11548-018-1829-0
M3 - Article
C2 - 30056592
VL - 14
SP - 301
EP - 309
IS - 2
ER -