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Combined OCT distance and FBG force sensing cannulation needle for retinal vein cannulation: in vivo animal validation

International Journal of Computer Assisted Radiology and Surgery volume 14, pages 301–309 (2019)Cite this article

Abstract

Purpose

Retinal vein cannulation is an experimental procedure during which a clot-dissolving drug is injected into an obstructed retinal vein. However, due to the fragility and minute size of retinal veins, such procedure is considered too risky to perform manually. With the aid of surgical robots, key limiting factors such as: unwanted eye rotations, hand tremor and instrument immobilization can be tackled. However, local instrument anatomy distance and force estimation remain unresolved issues. A reliable, real-time local interaction estimation between instrument tip and the retina could be a solution. This paper reports on the development of a combined force and distance sensing cannulation needle, and its experimental validation during in vivo animal trials.

Methods

Two prototypes are reported, relying on force and distance measurements based on FBG and OCT A-scan fibres, respectively. Both instruments provide an 80 \(\upmu \hbox {m}\) needle tip and have outer shaft diameters of 0.6 and 2.3 mm, respectively.

Results

Both prototypes were characterized and experimentally validated ex vivo. Then, paired with a previously developed surgical robot, in vivo experimental validation was performed. The first prototype successfully demonstrated the feasibility of using a combined force and distance sensing instrument in an in vivo setting.

Conclusion

The results demonstrate the feasibility of deploying a combined sensing instrument in an in vivo setting. The performed study provides a foundation for further work on real-time local modelling of the surgical scene. This paper provides initial insights; however, additional processing remains necessary.

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Funding

This research was funded by the EU Framework Programme for Research and Innovation-Horizon 2020 (No. 645331) and an SB Fellowship of the Research Foundation-Flanders (1S41517N).

Author information

Author notes

  1. Mouloud Ourak and Jonas Smits are designated as co-first authors of this work.

Authors and Affiliations

  1. University of Leuven, Leuven, Belgium

    M. Ourak, J. Smits, L. Esteveny, G. Borghesan, A. Gijbels, L. Schoevaerdts, D. Reynaerts & E. B. Vander Poorten

  2. Eindhoven University of Technology, Eindhoven, The Netherlands

    Y. Douven & J. Scholtes

  3. OptoMedical Technologies GmbH, Lübeck, Germany

    E. Lankenau

  4. Medical Laser Center Lübeck GmbH, Lübeck, Germany

    T. Eixmann, H. Schulz-Hildebrandt & G. Hüttmann

  5. Austrian Center for Medical Innovation and Technology Gmbh, Neustadt, Austria

    M. Kozlovszky & G. Kronreif

  6. University Hospitals Leuven, Leuven, Belgium

    K. Willekens & P. Stalmans

  7. The Rotterdam Eye Hospital, Rotterdam, The Netherlands

    K. Faridpooya

  8. The Eye Clinic, University of Milan, Milan, Italy

    M. Cereda, A. Giani & G. Staurenghi

Authors
  1. M. Ourak
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  2. J. Smits
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  3. L. Esteveny
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  4. G. Borghesan
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  5. A. Gijbels
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  6. L. Schoevaerdts
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  7. Y. Douven
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  8. J. Scholtes
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  9. E. Lankenau
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  10. T. Eixmann
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  11. H. Schulz-Hildebrandt
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  12. G. Hüttmann
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  13. M. Kozlovszky
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  14. G. Kronreif
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  15. K. Willekens
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  16. P. Stalmans
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  17. K. Faridpooya
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  18. M. Cereda
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  19. A. Giani
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  20. G. Staurenghi
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  21. D. Reynaerts
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  22. E. B. Vander Poorten
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Corresponding author

Correspondence to M. Ourak.

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The authors declare that they have no conflict of interest.

Ethical approval

This article does not contain any studies with human participants performed by any of the authors. All applicable international, national, and/or institutional guidelines for the care and use of animals were followed.

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This articles does not contain patient data.

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Ourak, M., Smits, J., Esteveny, L. et al. Combined OCT distance and FBG force sensing cannulation needle for retinal vein cannulation: in vivo animal validation. Int J CARS 14, 301–309 (2019). https://doi.org/10.1007/s11548-018-1829-0

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  • DOI: https://doi.org/10.1007/s11548-018-1829-0

Keywords

  • Retinal vein cannulation
  • Cannulation needle
  • Optical coherence tomography
  • Fibre Bragg grating
  • Surgical robotics