Semiautomated optical coherence tomography-guided robotic surgery for porcine lens removal

Purpose To evaluate semiautomated surgical lens extraction procedures using the optical coherence tomography (OCT)–integrated Intraocular Robotic Interventional Surgical System. Setting Stein Eye Institute and Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, USA. Design Experimental study. Methods Semiautomated lens extraction was performed on postmortem pig eyes using a robotic platform integrated with an OCT imaging system. Lens extraction was performed using a series of automated steps including robot-to-eye alignment, irrigation/aspiration (I/A) handpiece insertion, anatomic modeling, surgical path planning, and I/A handpiece navigation. Intraoperative surgical supervision and human intervention were enabled by real-time OCT ...