Dataset Information

Evaluation of the Hand Motion and Peeling Force in Inner Limiting Membrane Peeling.

ABSTRACT:

Purpose

Robot assistance in membrane peeling may improve precision and dexterity or prevent complications by task automation. To design robotic devices, surgical instruments' velocity, acceptable position/pose error, and load ability need to be precisely quantified.

Methods

A fiber Bragg grating and inertial sensors are attached to forceps. Data collected from forceps and microscope images are used to quantify a surgeon's hand motion (tremor, velocity, posture perturbation) and operation force (voluntary and involuntary) in inner limiting membrane peeling. All peeling attempts are performed on rabbit eyes in vivo by expert surgeons.

Results

The root mean square (RMS) of the tremor amplitude is 20.14 µm (transverse, X), 23.99 µm (transverse, Y), and 11.68 µm (axial, Z). The RMS posture perturbation is 0.43° (around X), 0.74° (around Y), and 0.46° (around Z). The RMS angular velocities are 1.74°/s (around X), 1.66°/s (around Y), and 1.46°/s (around Z), whereas the RMS velocities are 1.05 mm/s (transverse) and 1.44 mm/s (axial). The RMS force is 7.39 mN (voluntary force), 7.41 mN (operation force), and 0.5 mN (involuntary force).

Conclusions

Hand motion and operation force are measured in membrane peeling. These parameters provide a potential baseline for determining a surgical robot's accuracy, velocity, and load capacity.

Translational relevance

Baseline data are obtained that can be used to guide ophthalmic robot design/evaluation.

SUBMITTER: Zheng Y

PROVIDER: S-EPMC10067774 | biostudies-literature | 2023 Mar

REPOSITORIES: biostudies-literature

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Publications

Evaluation of the Hand Motion and Peeling Force in Inner Limiting Membrane Peeling.

Zheng Yu Y Yang Xiaohan X Mo Bin B Qi Yue Y Yang Yang Y Lin Chuang C Han Shaofeng S Wang Ningli N Guang Chenhan C Liu Wu W

Translational vision science & technology 20230301 3

<h4>Purpose</h4>Robot assistance in membrane peeling may improve precision and dexterity or prevent complications by task automation. To design robotic devices, surgical instruments' velocity, acceptable position/pose error, and load ability need to be precisely quantified.<h4>Methods</h4>A fiber Bragg grating and inertial sensors are attached to forceps. Data collected from forceps and microscope images are used to quantify a surgeon's hand motion (tremor, velocity, posture perturbation) and op ...[more]

PMID: 36995282

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Project description:BackgroundEpiretinal membranes (ERMs) have been reported after pars plana vitrectomy (PPV) for rhegmatogenous retinal detachment (RRD). Peeling of the internal limiting membrane (ILM) can prevent post-PPV ERM formation but has a potential negative impact on macular structure and function.PurposeTo investigate the anatomical and functional outcomes of ILM peeling during PPV for primary RRD.MethodsThis was a prospective nonrandomized study that included 60 eyes of 60 patients with a primary macula-off RRD and less than grade C proliferative vitreoretinopathy (PVR). Eyes were allocated into 2 groups; Group A underwent PPV without ILM peeling and Group B had ILM peeling. At postoperative month 6, all patients underwent retinal imaging using spectral domain optical coherence tomography (OCT) and OCT angiography and macular function was assessed using multifocal electroretinogram (mfERG). Baseline characteristics and postoperative anatomical and visual outcomes were recorded and statistically analyzed.ResultsWe enrolled 30 eyes of 30 patients in each group. In Group A, mean age was 44.6 years, while the mean age of Group B patients was 49.9 years. Postoperative LogMAR visual acuity was significantly better in Group A than in Group B (p < 0.001). ERMs were demonstrated on OCT in 13.3% of Group A and none of Group B patients (p = 0.04). Retinal dimples were found in 53.3% of Group B and none of Group A eyes (p < 0.001). OCTA showed a greater vessel density of the superficial capillary plexus (SCP) in Group A compared to Group B eyes (p = 0.046), while no difference was found regarding deep capillary vessel density (p = 0.7). Mean amplitude of mfERG P1 wave was significantly higher in Group A eyes than in Group B (p = 0.002). Both the SCP vessel density and P1 amplitude were positively correlated with visual acuity (p < 0.001).ConclusionThis study suggests that ILM peeling prevents ERM development in eyes undergoing PPV for uncomplicated macula-off RRD, but potential damage to macular structure and function were found.Trial registration Retrospectively registered on 09/24/2019 on ClinicalTrials.gov with an ID of NCT04139811.

Dataset Information

Evaluation of the Hand Motion and Peeling Force in Inner Limiting Membrane Peeling.

Purpose

Methods

Results

Conclusions

Translational relevance

Publications

Evaluation of the Hand Motion and Peeling Force in Inner Limiting Membrane Peeling.

Similar Datasets

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