Intraocular Robotic Interventional and Surgical System

The IRISS is the result of research collaboration between the Mechatronics and Control Laboratory and the Stein Eye Institute through the recently developed Center for Advanced Robotic Eye Surgery (CARES) laboratory. The research vision is to develop a surgical platform capable of performing anterior and posterior surgical procedures via teleoperation and automation. This research is supported by NIH R21 Grant no. 5R21EY024065-02.

The IRISS

The IRISS has the unique capability to manipulate two surgical instruments simultaneously through ocular incisions spaced millimeters apart. The large range of motion of the manipulator allows for both anterior and posterior surgical instrument positioning. To facilitate comprehensive surgical procedures, the IRISS can automatically alternate between multiple surgical instruments on each arm. Dedicated master surgical manipulators and microscope mounted cameras allow for 3-D teloperated surgical visualization based commands. This configuration also lends itself to computer vision based intervention.

Images

Publications

• Intraocular Robotic Interventional Surgical System (IRISS): Mechanical Design and Master–Slave Manipulation,
  J. Wilson, M. Gerber, S. Prince, C-W. Chen, S. Schwartz, J-P. Hubschman, and T-C. Tsao,
  The International Journal of Medical Robotics and Computer Assisted Surgery, RCS-16-0156.R1.
• Evaluating Remote Centers of Motion for Minimally Invasive Surgical Robots by Computer Vision, J.T. Wilson, T.C. Tsao, J.P. Hubschman, and S. Schwartz, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1413–1418, Montréal, Canada, Jul 2010. 10.1109/AIM.2010.5695924
• Robot-assisted intraocular surgery: development of the IRISS and feasibility studies in an animal model, E Rahimy, J Wilson, TC Tsao, S Schwartz, JP Hubschman, Eye 27 (8), pp. 972–978