Karen Joos
Last active: 4/3/2019

Evaluation of microsurgical tasks with OCT-guided and/or robot-assisted ophthalmic forceps.

Yu H, Shen JH, Shah RJ, Simaan N, Joos KM
Biomed Opt Express. 2015 6 (2): 457-72

PMID: 25780736 · PMCID: PMC4354581 · DOI:10.1364/BOE.6.000457

Real-time intraocular optical coherence tomography (OCT) visualization of tissues with surgical feedback can enhance retinal surgery. An intraocular 23-gauge B-mode forward-imaging co-planar OCT-forceps, coupling connectors and algorithms were developed to form a unique ophthalmic surgical robotic system. Approach to the surface of a phantom or goat retina by a manual or robotic-controlled forceps, with and without real-time OCT guidance, was performed. Efficiency of lifting phantom membranes was examined. Placing the co-planar OCT imaging probe internal to the surgical tool reduced instrument shadowing and permitted constant tracking. Robotic assistance together with real-time OCT feedback improved depth perception accuracy. The first-generation integrated OCT-forceps was capable of peeling membrane phantoms despite smooth tips.

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