Master thesis: Robot-Assisted Vitreo-retinal Surgery

Thesis by: Monica Azqueta
Advisor: Nassir Navab, Prof. Alois Knol
Supervision by: Dr. Abouzar Eslami, Ali Nasseri

Abstract

Pars Plana Vitrectomy surgery is a minimal invasive intra- retinal surgery that has revolutionized retinal surgery since it was rst proposed in the 1970's. This sutureless technique involves the use of smaller surgical instruments (25 gauge, 51mm in diameter) and was used in the cure of conditions not treatable before. Moreover, it proved to have lower complication rate and shorter healing period than standard vitreo- retinal surgery. The barrier towards an improvement of the outcomes of this technique lies, however, in the surgeon's abilities and dexterity. In this line, an assisting robotic master-slave device could enhance the surgeon's skills when manipulating the surgical tools. The slave device is in charge of manipulating the tools whereas the master device is ma- nipulated by the surgeon to control the master device. A master input device for the controlling of the existing master robot is to be designed. Several aspects concerning the operating room environment, surgery req- uisites, surgeon's manipulation intuition and compatibility with slave device should be taken into account when nding the optimal solution.