@inproceedings{gijbels_design_2013,
	title = {Design and realisation of a novel robotic manipulator for retinal surgery},
	doi = {10.1109/IROS.2013.6696869},
	abstract = {Retinal Vein Occlusion (RVO) is a common retinal vascular disorder which may cause severe loss of vision. Retinal cannulation appears to be the most effective treatment, but given the small diameter of a retinal vein, it is too difficult and risky for a surgeon to perform this procedure manually. This work reports on the development of an innovative robotic manipulator to assist vitreoretinal surgeons during this procedure using a co-manipulation control strategy. The robotic manipulator features a new Remote-Center-of-Motion mechanism with four degrees of freedom. This mechanism is particularly interesting for applications in minimally invasive surgery where an instrument needs to be manoeuvred in a highly confined space around a fixed incision point. The developed manipulator is shown to be a great asset in improving the quality of retinal cannulations compared to the manual procedure. This is shown by cannulation experiments performed on a custom made eye model and an injectable retina model that effectively simulate real retinal cannulations.},
	booktitle = {2013 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
	author = {Gijbels, A. and Wouters, N. and Stalmans, P. and Van Brussel, H. and Reynaerts, D. and Poorten, E. Vander},
	month = nov,
	year = {2013},
	note = {ISSN: 2153-0866},
	pages = {3598--3603},
}

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