Thursday, April 25, 2024 4/25/2024

Vitreoretinal Surgery via Robotic Microsurgical System with Image Guidance, Force Feedback, Virtual Fixture, and Augmented Reality

Award Number: R01EY029689
ORGANIZATION: NATIONAL EYE INSTITUTE
OPDIV: NIH
AWARD CLASS: DISCRETIONARY
AWARD ACTIVITY TYPE: SCIENTIFIC/HEALTH RESEARCH (INCLUDES SURVEYS)

Group Awards By Issue Date FY or Funding FY:

View Award Abstract

PROJECT SUMMARY/ABSTRACT The aims of the present proposal are to extend our work with the Intraocular Robotic Interventional and Surgical System (IRISS) and augment it for teleoperated vitreoretinal surgery. Although novel technologies such as intraoperative optical coherence tomography (i-OCT) have been developed, vitreoretinal surgeons still lack critical information during surgery (e.g., the distance between pre-retinal membrane and retina) due to inadequate display and feedback. In addition, physiological capabilities are a limiting factor because the retina is one of the smallest and most delicate tissues of the human body. The rate of surgical failure in complex retinal cases remains high (10–15%) due to the limits of current surgical capabilities, thereby condemning these patients to blindness [1-3]. Our group has developed the IRISS [4-10] through a combination of internal funding and a recent R21 grant (NIH/R21EY024065). This support enabled our group to develop the IRISS platform to perform fully automated cataract surgery on ex-vivo pig eyes. We have also demonstrated the ability of the IRISS to perform safe- motion guidance for lens removal based on per-operative, real-time anatomical detection, and teleoperated capabilities for vitreoretinal maneuvers, including retinal vein cannulation and core vitrectomy [4]. Furthermore, Raven II, an open-source surgical robotics system [11-22], was co-developed by Rosen over the past 16 years for general minimally invasive surgery. In the present study, the surgical cockpit of the Raven II system will serve as the foundation of the user interface for the improved robotic surgical system. The accumulated experience of our group through this previous work will guide the proposed research effort from the stringent clinical requirements to the design, development, and evaluation of the proposed system. The present study is composed of three independent, parallel tracks. First, the mechanical design and assembly of the robotic surgical system will be improved to achieve tool-tip positional precision of 5 µm, approximately ten times more precise than a human surgeon [23]. Second, we will enhance the surgeon's abilities in sensing and interpreting anatomical details during retinal manipulation by applying high-resolution (10 µm), real-time intraoperative i-OCT scans to detect anatomical features critical to specific vitreoretinal procedures. Third, surgical features of interest will be presented to the surgeon via a human–robot surgical cockpit that provides innovative 3D, augmented-reality visualization and auditory and haptic feedback. Each aim will be assessed by a series of evaluation protocols to ensure their success. The safety and efficacy of the system will also be compared with and without the proposed improvements (robotic control, enhanced sensing, and augmented feedback) on a virtual reality simulator in addition to phantom and biological eye models chosen to best assess surgical outcome. It is important to note that while the ultimate goal is the integration of all three aims, their development remains independent and success or failure in one does not affect the outcome of another. We hypothesize that a surgeon–robot surgical system that incorporates enhanced sensing and feedback to enrich the surgeon's perception and interpretation of anatomical details will improve surgical safety and reduce the rate of surgical complications to improve health outcomes and abate the costs associated with surgical complications.


Issue Date FY	Funding FY	Legal Entity Name	Legal Entity Address	Legal Entity City	Legal Entity State	Legal Entity Zip Code	Legal Entity COUNTY	Legal Entity COUNTRY	Assistance Listing	Award Code	Budget Year	Action Date	Action Type	Action Amount

Issue Date FY: 2023 ( Subtotal = $401,758 )
2023	2023	UNIVERSITY OF CALIFORNIA, LOS ANGELES	10889 WILSHIRE BLVD STE 700	LOS ANGELES	CA	90024	LOS ANGELES	USA	Vision Research	000	5	2/16/2023	NON-COMPETING CONTINUATION	$401,758
														Subtotal = $401,758

Issue Date FY: 2022 ( Subtotal = $343,559 )
2022	2022	UNIVERSITY OF CALIFORNIA, LOS ANGELES	10889 WILSHIRE BLVD STE 700	LOS ANGELES	CA	90024	LOS ANGELES	USA	Vision Research	001	4	3/21/2022	NON-COMPETING CONTINUATION	$0
2022	2022	UNIVERSITY OF CALIFORNIA, LOS ANGELES	10889 WILSHIRE BLVD STE 700	LOS ANGELES	CA	90024	LOS ANGELES	USA	Vision Research	000	4	3/2/2022	NON-COMPETING CONTINUATION	$343,559
														Subtotal = $343,559

Issue Date FY: 2021 ( Subtotal = $407,448 )
2021	2021	UNIVERSITY OF CALIFORNIA, LOS ANGELES	10889 WILSHIRE BLVD STE 700	LOS ANGELES	CA	90095	LOS ANGELES	USA	Vision Research	000	3	1/22/2021	NON-COMPETING CONTINUATION	$378,043
2021	2021	UNIVERSITY OF CALIFORNIA, LOS ANGELES	10889 WILSHIRE BLVD STE 700	LOS ANGELES	CA	90095	LOS ANGELES	USA	Vision Research	001	3	2/23/2021	NON-COMPETING CONTINUATION	$29,405
														Subtotal = $407,448

Issue Date FY: 2020 ( Subtotal = $429,489 )
2020	2020	UNIVERSITY OF CALIFORNIA, LOS ANGELES	10889 WILSHIRE BLVD STE 700	LOS ANGELES	CA	90095	LOS ANGELES	USA	Vision Research	000	2	1/27/2020	NON-COMPETING CONTINUATION	$429,489
														Subtotal = $429,489

Issue Date FY: 2019 ( Subtotal = $439,347 )
2019	2019	UNIVERSITY OF CALIFORNIA, LOS ANGELES	10889 WILSHIRE BLVD STE 700	LOS ANGELES	CA	90095	LOS ANGELES	USA	Vision Research	000	1	1/21/2019	NEW	$439,347
														Subtotal = $439,347

Grand Total All Awards = $2,021,601

Top

All Categories

About

Search

Reports

Data Submission

Award Information

Vitreoretinal Surgery via Robotic Microsurgical System with Image Guidance, Force Feedback, Virtual Fixture, and Augmented Reality

Award Number: R01EY029689

ORGANIZATION: NATIONAL EYE INSTITUTE

OPDIV: NIH

AWARD CLASS: DISCRETIONARY

AWARD ACTIVITY TYPE: SCIENTIFIC/HEALTH RESEARCH (INCLUDES SURVEYS)

Federal Websites

Department of Health & Human Services

HHS Operating Divisions

HHS Staff Divisions

Download A Document Viewer