Purpose: Robotic intraocular microsurgery requires a remote center of motion (RCM) at the site of ocular penetration. We designed and tested the Hexapod Surgical System (HSS), a microrobot mounted on the da Vinci macrorobot for intraocular microsurgery. Material and Methods: Translations and rotations of the HSS were tested for range of motion and stability. Precision and dexterity were assessed by pointing and inserting a coupled probe into holes of various sizes. The stability of a nonmechanical RCM was quantified. HSS functionalities were observed on porcine eyes. Results: The HSS maximal translations were 10 (x and y axes) and 5 cm (z axis). The maximal rotations were 15 and 22° (x and y axes). The precision was within 0.5 mm away from targets in 26/30 tests and maximal in 16/30 tests. The mean translational and rotational stability at the tip of the probe were 1.2 (0.6–1.9) and 1 mm (0–2), respectively. The average dexterity times were 5.2 (4.4–6.5), 7.1 (5.6–10.8) and 12.3 s (7.8–21.7) for 5-, 2- and 1-mm holes, respectively. The RCM was stable (within 0.1 mm). A vitreous cutter coupled to the HSS moved into porcine eyes through a sclerotomy with a stable RCM. Conclusion: The HSS provides an RCM dedicated for intraocular robotic surgery with a high level of precision and dexterity. Although it can be further improved, the micro-macro robotic system is a feasible approach for ocular surgery.

This content is only available via PDF.
Copyright / Drug Dosage / Disclaimer
Copyright: All rights reserved. No part of this publication may be translated into other languages, reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying, recording, microcopying, or by any information storage and retrieval system, without permission in writing from the publisher.
Drug Dosage: The authors and the publisher have exerted every effort to ensure that drug selection and dosage set forth in this text are in accord with current recommendations and practice at the time of publication. However, in view of ongoing research, changes in government regulations, and the constant flow of information relating to drug therapy and drug reactions, the reader is urged to check the package insert for each drug for any changes in indications and dosage and for added warnings and precautions. This is particularly important when the recommended agent is a new and/or infrequently employed drug.
Disclaimer: The statements, opinions and data contained in this publication are solely those of the individual authors and contributors and not of the publishers and the editor(s). The appearance of advertisements or/and product references in the publication is not a warranty, endorsement, or approval of the products or services advertised or of their effectiveness, quality or safety. The publisher and the editor(s) disclaim responsibility for any injury to persons or property resulting from any ideas, methods, instructions or products referred to in the content or advertisements.
You do not currently have access to this content.