Laser-Guided Subretinal Injection Targeting With Fixed Entry Motion
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Solution Overview
Problem
Existing minimally invasive intraocular surgeries face challenges in precisely maneuvering surgical instruments within the eye to avoid complications such as retinal tearing and cataract formation, particularly during subretinal injections, due to the difficulty in maintaining a straight trajectory and the risks associated with vitrectomy procedures.
Innovation Solution
A surgical instrument system mounted on a surgical robot arm, equipped with a targeting instrument like a laser device, allows for precise axial movement and orientation control, enabling direct aiming and injection at targeted positions within the eye, avoiding unnecessary vitrectomy by using a robot arm with a remote center of motion to maintain a fixed entry point and allowing exchange of instruments for precise injections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If lateral movement of surgical instruments is performed within the eye to reach different retinal points, then the ability to treat multiple locations is improved, but the risk of retinal tearing increases due to traction on retinal tissue
Solution Approach 1:
The patent changes the movement dimension from lateral (within the vitreous cavity) to axial (along the instrument trajectory). The robot arm is configured to move the surgical instrument axially in and out of the eye while maintaining a fixed entry point, eliminating lateral movements that cause retinal traction and tearing.
Solution Approach 2:
The patent segments the surgical procedure into discrete axial movement steps. The robot arm moves the instrument to predetermined positions along the axial trajectory, allowing treatment of multiple retinal locations through sequential axial positioning rather than continuous lateral maneuvering.
2Ease of operation
If vitrectomy is performed to enable subretinal injection, then access to the subretinal space is improved, but the risk of cataract formation and additional surgeries increases
Solution Approach 1:
The patent replaces the mechanical vitrectomy process with a direct subretinal injection approach. The robot arm delivers therapeutic agents directly into the subretinal space through a needle injection, eliminating the need for mechanical vitreous removal and associated cataract risks.
Solution Approach 2:
The patent performs preliminary positioning of the robot arm and injection needle to ensure accurate delivery of therapeutic agents to the subretinal space before injection begins, eliminating the need for preliminary vitrectomy to create access.
3Object-affected harmful factors
If straight trajectory movement is maintained from trocar to retinal target, then retinal traction is minimized, but the ability to reach different points along the retina is limited
Solution Approach 1:
The patent makes the robot arm system universal for treating multiple retinal locations through programmed axial positioning. The same axial movement mechanism can deliver instruments to any predetermined retinal location by adjusting the axial position and orientation parameters, providing multi-functionality without lateral maneuvering.
4Manufacturing precision
If robot arm with remote center of motion is used to maintain fixed entry point, then injection precision is improved, but the complexity of the surgical system increases
Solution Approach 1:
The patent introduces a computer control system as an intermediary between the surgeon's intent and the robot arm movements. The computer program controls the robot arm to maintain the remote center of motion at the trocar entry point while positioning the instrument at predetermined retinal locations, managing system complexity through software coordination.
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 system enhances precision in intraocular surgeries by minimizing retinal traction and reducing complications, thereby reducing the need for additional procedures and associated costs, while ensuring accurate delivery of therapeutic agents to specific eye locations.
Implementation Method 1
the targeting instrument is a laser device. the targeting instrument emits a beam in an orange, green, or red wavelength spectrum at the targeted position
Data Source
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.