1. Robotic EyeSurgery Potential benefits: –increased precision, –elimination of tremor, –force feedback, –increased ergonomy surgeon to be in charge! teleoperation co-manipulation 2 configurations feasible Drawbacks: –requires fixed entry-point –large workspace inside the eye, specially angular –limited maneouvring space for robot outside of the eye –automation difficult (complex scene, while robot lacks brain) –hard to guarantee safety fragile environment

2. Prior Art RAMS, Charles, e.a. ‘97 Robotic ocular ultramicrosurgery, Yu e.a. ‘98 Jensen & Grace ‘97 first interest peak end ‘90

3. Prior Art RAMS, Charles, e.a. ‘97 Robotic ocular ultramicrosurgery, Yu e.a. ‘98 Jensen & Grace ‘97 da Vinci, Tsirbas.‘07 Hexapod Surgical System, Mulgaonkar. ‘09 renewed interest but at present –still no commercial systems –only partial solutions to stated drawbacks

4. Leuven Eye-surgical Robot Collaboration: U.Z.Leuven - Robot-Assisted Surgery Group. ( Mechanical Engineering Dept.) Case study CRVO/BRVO treatment direct t-PA injection in blocked vein Vexpect good treatment outcome Xvein diameter 20-130 μm Xlong injection timespan +/- 30 sec Xphysiological tremor affects positioning accuracy Xsmall forces  pure vision-based robotic treatment = promising ! affected retina

5. Leuven Eye-surgical Robot Status –1 st prototype built, according to innovative design. –3 actuated degrees of freedom will be expanded to 4 degrees. –Interfacing of robot finished, currently designing robot controller. –phantom & animal trials :in +/- 2months

6. Some video’s 1.robot work range 2.under control 1 2 to be inserted