Development of a new tissue injector for subretinal transplantation of human embryonic stem cell derived retinal pigmented epithelium.

Background: Subretinal cell transplantation is a challenging surgical maneuver. This paper describes the preliminary findings of a new tissue injector for subretinal implantation of an ultrathin non-absorbable substrate seeded with human embryonic stem cell-derived retinal pigment epithelium (hESC-RPE).

Methods: Ultrathin Parylene-C substrates measuring 3.

Hybrid position/force control of an active handheld micromanipulator for membrane peeling.

Background: Peeling procedures in retinal surgery require micron-scale manipulation and control of sub-tactile forces.

Methods: Hybrid position/force control of an actuated handheld microsurgical instrument is presented as a means for simultaneously improving positioning accuracy and reducing forces to prevent avoidable trauma to tissue. The system response was evaluated, and membrane-peeling trials were performed by four test subjects in both artificial and animal models.

Toward Hybrid Position/Force Control for an Active Handheld Micromanipulator.

Vitreoretinal microsurgery requires precise hand-eye coordination to manipulate delicate structures within the eye on the order of tens of microns. To achieve these tasks, surgeons use tools of diameter 0.9 mm or less to access the eye's interior structures.

Improvement of optical coherence tomography using active handheld micromanipulator in vitreoretinal surgery.

An active handheld micromanipulator has been developed to cancel hand tremor during microsurgery. The micromanipulator is also applicable in optical coherence tomography to improve the quality of scanning and minimize surgical risks during the scans. The manipulator can maneuver the tool tip with six degrees of freedom within a cylindrical workspace 4 mm in diameter and 4 mm high.

Performance of a 6-degree-of-freedom active microsurgical manipulator in handheld tasks.

This paper presents the first experimental results from human users of a new 6-degree-of-freedom handheld micromanipulator. This is the latest prototype of a fully-handheld system, known as "Micron," which performs active compensation of hand tremor for microsurgery. The manipulator is a miniature Gough-Stewart platform incorporating linear ultrasonic motors that provide a cylindrical workspace 4 mm long and 4 mm wide.

Comparison of Baseline Tremor Under Various Microsurgical Conditions.

This paper presents the characterization and comparison of physiological tremor for pointing tasks in multiple environments, as a baseline for performance evaluation of microsurgical robotics. Previous studies have examined the characteristics of physiological tremor under laboratory settings as well as different operating conditions. However, different test methods make the comparison of results across trials and conditions difficult.