IEEE Transactions on Biomedical Engineering

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Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: In-vivo Study
Retinal vein cannulation is a technically demanding surgical procedure and its feasibility relies on using advanced surgical robots equipped with force-sensing microneedles, and reliable detection of the moment of venous puncture. This paper reports the first in-vivo retinal vein cannulation trial on rabbit eyes, using sensorized metal needles, and investigates puncture detection. We utilized total of four indices including two previously demonstrated and two new ones and improved the detection rate from 75% to 92%. The study provides promising results and the criteria developed may serve as guidelines for further investigation into puncture detection in in-vivo retinal vein cannulation... Read more