Laser-Guided Subretinal Injection With Saved Robotic Alignment
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Solution Overview
Problem
Existing minimally invasive intraocular surgeries face challenges in precisely maneuvering surgical instruments within the eye to avoid retina damage and complications, such as cataract formation and vitrectomy risks, due to the difficulty in maintaining a straight trajectory and avoiding vitreous material.
Innovation Solution
A surgical instrument mounted on a robot arm, equipped with a targeting instrument like a laser device, allows precise axial movement and orientation saving, enabling direct injection at targeted positions within the eye, reducing the need for vitrectomy and minimizing retina traction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If lateral movements are made within the vitreous material to reach different retinal points, then the ability to treat different retinal locations is improved, but the risk of retinal tearing increases due to traction on the retina
Solution Approach 1:
The surgical procedure is divided into two distinct phases: first, a trocar is inserted and fixed at a specific entry point to establish a stable reference frame; second, the surgical instrument moves only axially (in and out) relative to the fixed trocar, rather than laterally. This segmentation of movement types eliminates retinal traction while still allowing treatment of different retinal locations by adjusting the axial position and orientation of the instrument through the fixed trocar opening.
Solution Approach 2:
The trocar acts as an intermediary element between the surgical instrument and the retina. By fixing the trocar first and having the instrument move only axially through it, the trocar mediates the interaction in a way that prevents lateral traction on the retina. The trocar's fixed position serves as a pivot point that decouples the instrument's axial movement from any lateral retinal displacement.
2Adaptability or versatility
If vitrectomy is performed to enable instrument movement, then the ability to access retinal areas is improved, but the procedural complexity and risks increase due to additional surgeries and fluid replacement
Solution Approach 1:
The trocar is inserted and fixed in advance at the optimal entry point before the actual injection or treatment. This preliminary action establishes a stable reference frame that enables subsequent axial-only movements. By preparing this fixed reference point beforehand, the need for complex vitrectomy procedures is eliminated, as the predetermined trocar position provides the necessary access pathway without requiring removal of vitreous material.
3Reliability
If straight axial movement is maintained from the trocar, then the risk of retinal damage is reduced, but the ability to reach different retinal points becomes more constrained
Solution Approach 1:
While the trocar remains fixed in space, the surgical instrument's orientation and axial position are dynamically adjusted to reach different retinal locations. The system allows the instrument to pivot and rotate around the fixed trocar point, enabling coverage of various retinal areas through controlled axial movements and orientation changes rather than lateral displacement. This dynamic adjustment of instrument angles and positions maintains retinal safety while achieving treatment versatility.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances precision and safety by allowing exact injections at desired locations, reducing complications and procedural time, while avoiding unnecessary surgeries like vitrectomy.
Implementation Method 1
the targeting instrument is a laser device. In some embodiments, the targeting instrument emits a beam in an orange, green, or red wavelength spectrum at the targeted position
Data Source
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AI summary
Disclosed herein are system, apparatus, article of manufacture, method, computer program product embodiments, and combinations and sub-combinations thereof, for aiding an injection in an intraocular procedure including a robot arm, a control unit configured to control the robot arm, a targeting instrument mounted on the robot arm, wherein the targeting instrument is configured to aim at a targeted position, wherein an orientation of the robot arm in a direction of the targeted position is saved in a memory of the control unit to be accessed, and wherein the targeting instrument is further configured to be exchanged with an injection instrument, and the injection instrument mounted on the robot arm, wherein the injection instrument is configured to be positioned at the saved orientation of the robot arm at the targeted position, and wherein the injection instrument is further configured to inject into the targeted position.