The GEYEDANCE consortium is proud to announce the publication of its scientific work in the prestigious journal IEEE Transactions on Medical Robotics and Bionics. This paper highlights the successful collaboration of all GEYEDANCE partners and introduces innovative approaches in the field of medical robotics.
This work presents a novel robotic system for vitreoretinal surgery that features instrument-integrated Optical Coherence Tomography (OCT)-based sensing and multi-modal feedback to support surgeons during intraocular procedures.
The system uses surgical instruments with an integrated OCT sensor at the tip to measure the distance to the retina continuously. The unidirectional distance measurements are merged with the robot’s forward kinematics to reconstruct a sparse 3D model of the retinal surface. This reconstruction allows control of the position of the tool tip beyond the local sensing direction to maintain a minimum distance to the retina, prevent indentation of the retina, or control the indentation depth.
To further enhance safety, the platform integrates into a bilateral teleoperation framework, delivering haptic force feedback to the surgeon whenever the robot approaches the defined boundaries.
Key contributions include:
- A novel ophthalmological surgical platform designed to provide assistive functions to the surgeon.
- A multi-modal haptic, visual and acoustic feedback system using an OCT-based distance estimation system and 3D reconstruction.
- A validation of the robotic platform on ex vivo eyes.
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