A novel robot-assisted subretinal injection system: preliminary validation in ex vivo porcine eyes.

IF 2.2 3区医学 Q2 SURGERY

Journal of Robotic Surgery Pub Date : 2025-07-10 DOI:10.1007/s11701-025-02521-z

Qun Wang, Zhao Li, Chunbo Wang, Qianwei He, Ning Xu, Kunkun Yang, Na Li, Mengyao Liu, He Zhang, Liqiang Wang

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Abstract

To evaluate the application of a novel, partially automated, robot-assisted ophthalmic surgery for subretinal injection, a study was conducted comparing manual and robot-assisted injections performed by doctors of varying experience levels on fresh, isolated porcine eyes. This system was developed by a team from Harbin Institute of Technology. The core component is a specialized microneedle with adjustable puncture angle and integrated force-sensing capability. It enables flexible intraocular manipulation during subretinal injection procedures and performs autonomous retinal puncture guided by force feedback. Results showed that robot-assisted injections by all doctors achieved a 100% success rate without safety events such as retinal laceration or RPE penetration. While the senior doctor exhibited the highest manual injection success rate and lowest safety event probability, medical students showed the opposite. Compared to manual injection, robot-assisted injection demonstrated smaller needle force variation, more regular retinal "bubble" shape, and more stable subretinal fluid volume (p < 0.05). The surgical robot can accurately perform automatic subretinal injection with high success and good safety, potentially shortening the learning curve and replacing manual operation in the future.

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一种新型机器人辅助视网膜下注射系统：在离体猪眼的初步验证。

为了评估一种新型的、部分自动化的机器人辅助眼科手术在视网膜下注射中的应用，一项研究比较了不同经验水平的医生对新鲜的、离体的猪眼进行的人工和机器人辅助注射。这个系统是由哈尔滨工业大学的一个团队开发的。核心部件是一个专门的微针，具有可调的穿刺角度和集成的力传感能力。它可以在视网膜下注射过程中进行灵活的眼内操作，并在力反馈的引导下进行自主视网膜穿刺。结果显示，所有医生的机器人辅助注射成功率均达到100%，无视网膜撕裂或RPE穿透等安全事件。资深医师的人工注射成功率最高，安全事件概率最低，医学生的情况则相反。与手动注射相比，机器人辅助注射表现出更小的针力变化，更规则的视网膜“气泡”形状，更稳定的视网膜下液量(p

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来源期刊

Journal of Robotic Surgery SURGERY-

CiteScore

4.20

自引率

8.70%

发文量

145

期刊介绍： The aim of the Journal of Robotic Surgery is to become the leading worldwide journal for publication of articles related to robotic surgery, encompassing surgical simulation and integrated imaging techniques. The journal provides a centralized, focused resource for physicians wishing to publish their experience or those wishing to avail themselves of the most up-to-date findings.The journal reports on advance in a wide range of surgical specialties including adult and pediatric urology, general surgery, cardiac surgery, gynecology, ENT, orthopedics and neurosurgery.The use of robotics in surgery is broad-based and will undoubtedly expand over the next decade as new technical innovations and techniques increase the applicability of its use. The journal intends to capture this trend as it develops.