Image-Guided Robotic Lens Extraction With OCT Collision Avoidance
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Solution Overview
Problem
Current cataract surgery methods face challenges in automating the critical operation of lens extraction, leading to complications such as incomplete removal and posterior capsule rupture during cortical material aspiration.
Innovation Solution
An image-guided robotic surgical system integrates an intraocular robotic surgical device (IRISS) with transpupillary and intraocular OCT probes to provide real-time feedback and control, allowing for automated lens extraction by deriving tool insertion trajectories and preventing collisions using OCT-based anatomical models.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If automated lens extraction is implemented using robotic manipulators, then surgical precision and completeness of lens removal are improved, but device complexity increases due to integration of imaging devices, control systems, and robotic manipulators
Solution Approach 1:
The surgical system is divided into separate functional modules: an imaging device for acquisition, a controller for processing and trajectory derivation, and a robotic manipulator for tool delivery. This segmentation allows each component to be optimized independently while working together to achieve precise automated lens extraction without overwhelming complexity in any single element.
Solution Approach 2:
The controller acts as an intermediary between the imaging device and the robotic manipulator. It receives imaging data, derives insertion trajectories, and directs manipulator movement, thereby mediating the complex interaction between sensing and actuation systems to achieve coordinated precise control.
2Reliability
If real-time OCT imaging feedback is integrated into the robotic system, then reliability of lens extraction is improved by preventing posterior capsule rupture, but device complexity increases due to additional imaging and control components
Solution Approach 1:
The system continuously acquires OCT imaging data during the surgical procedure and uses this real-time feedback to monitor the surgical site. The controller processes this feedback to derive updated insertion trajectories and adjust manipulator movements, creating a closed-loop control system that prevents complications like posterior capsule rupture while managing system complexity through active monitoring and adaptive control.
Data Source
AI summary
A surgical system includes: (1) an imaging device configured to acquire imaging data of a surgical site; (2) a surgical manipulator configured to hold a surgical tool; and (3) a controller connected to the imaging device and the surgical manipulator, wherein the controller is configured to receive the imaging data from the imaging device and derive, from the imaging data, an insertion trajectory for the surgical tool through an incision at the surgical site.