A potential Retinal Vein Occlusion (RVO) treatment involves Retinal Vein Cannulation (RVC), which requires the surgeon to insert a microneedle into the affected retinal vein and administer a clot-dissolving drug. This procedure presents significant challenges due to human physiological limitations, such as hand tremors, prolonged tool-holding periods, and constraints in depth perception using a microscope. This study proposes a robot-assisted workflow for RVC to overcome these limitations. The test robot is operated through a keyboard. An intraoperative Optical Coherence Tomography (iOCT) system is used to verify successful venous puncture before infusion. The workflow is validated using 12 ex vivo porcine eyes. These early results demonstrate a successful rate of 10 out of 12 cannulations (83.33%), affirming the feasibility of the proposed workflow.

翻译：视网膜静脉阻塞（RVO）的一种潜在治疗方法涉及视网膜静脉插管（RVC），该手术要求外科医生将一根微针插入受影响的视网膜静脉并注射溶栓药物。由于人类生理限制，如手部震颤、长时间持握器械以及显微镜下深度感知受限，该手术面临重大挑战。本研究提出了一种机器人辅助的RVC工作流程以克服这些限制。测试机器人通过键盘进行操作。术中光学相干断层扫描（iOCT）系统用于在灌注前验证静脉穿刺是否成功。该工作流程使用12个离体猪眼进行了验证。这些早期结果显示，12次插管中有10次成功（成功率83.33%），证实了所提出工作流程的可行性。