机器人辅助眼底静脉穿刺，成功率达83.3%
A Feasible Workflow for Retinal Vein Cannulation in Ex Vivo Porcine Eyes with Robotic Assistance
- 用键盘操控机器人完成微针穿刺，克服手抖等生理限制
- 12例猪眼实验中10次成功穿刺，成功率83.3%
- 适合眼科微创手术研究者与机器人外科团队参考
视网膜静脉阻塞（RVO）潜在治疗方式为视网膜静脉穿刺（RVC），需将微针插入病变视网膜静脉并注射溶栓药物。该操作因人手颤抖、长时间持械及显微镜下深度感知受限而极具挑战。本研究提出一种机器人辅助的RVC工作流程，通过键盘控制测试机器人，利用术中光学相干断层扫描（iOCT）验证穿刺成功后进行药物灌注。在12例离体猪眼上的验证显示，10例完成成功穿刺（成功率83.33%），证实了该流程的可行性。
原文摘要 · Abstract (English)
A potential Retinal Vein Occlusion (RVO) treatment involves Retinal Vein Cannulation (RVC), which requires the surgeon to insert a microneedle into the affected retinal vein and administer a clot-dissolving drug. This procedure presents significant challenges due to human physiological limitations, such as hand tremors, prolonged tool-holding periods, and constraints in depth perception using a microscope. This study proposes a robot-assisted workflow for RVC to overcome these limitations. The test robot is operated through a keyboard. An intraoperative Optical Coherence Tomography (iOCT) system is used to verify successful venous puncture before infusion. The workflow is validated using 12 ex vivo porcine eyes. These early results demonstrate a successful rate of 10 out of 12 cannulations (83.33%), affirming the feasibility of the proposed workflow.
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