Data and code from: Head-mounted surgical robots are an enabling technology for subretinal injections

Therapeutic protocols involving subretinal injection, which hold the promise of saving or restoring sight, are challenging for surgeons because they are at the limits of human motor and perceptual abilities. Excessive or insufficient indentation of the injection cannula into the retina, or motion of the cannula with respect to the retina, can result in retinal trauma or incorrect placement of the therapeutic product. Robotic assistance holds the promise of enabling the surgeon to more precisely position the injection cannula and maintain its position for a prolonged period of time. However, head motion is common among patients undergoing eye surgery, complicating subretinal injections, yet it is often not considered in the evaluation of robotic assistance. There exists no prior study that has both included head motion during an evaluation of robotic assistance and demonstrated a significant improvement in the ability to perform subretinal injections compared to the manual approach. In a..., All images and videos are of ex vivo (i.e., post mortem) pig eyes. All videos are screen recordings of the Heidelberg Eye Explorer software, which is for use with the Heidelberg Spectralis optical coherence tomography (OCT) system. The screen-recording software used was Open Broadcaster Software (OBS). The images used for estimating the durations of bleb expansion are video frames that were extracted from the screen recordings described above. The MATLAB Image Segmenter app was used to load the extracted video frames and highlight pixels that corresponded to part of a bleb formed via subretinal injection, and then the results were saved as .mat files. The pressure data was collected using a pressure sensor (described in the journal article) connected to an Arduino Uno. The data was recorded on a computer running Windows 10 that the Arduino was connected to via a USB cable. CoolTerm, a serial port terminal software application, was used to record the data on the computer running Windows ..., , # Data and code from: Head-mounted surgical robots are an enabling technology for subretinal injections [https://doi.org/10.5061/dryad.w0vt4b91w](https://doi.org/10.5061/dryad.w0vt4b91w) ## Context This data and code was collected and developed for Posselli et al. \"Head-mounted Surgical Robots are an Enabling Technology for Subretinal Injections\", in which we demonstrate that head-mounting a high-precision teleoperated surgical robot to passively reduce undesirable relative motion between the robot and the eye results in a bleb-formation success rate that is significantly higher than the manual success rates achieved by surgeons even in stationary enucleated eyes. All of the eyes used in this study were ex vivo (i.e., post mortem) pig eyes. There was a human participant wearing the head-mounted robot and the eye-mounting goggles, which held each pig eye, but the images and videos show only the pig eyes and not any part of the human participant. ### Injection...涉及视网膜下注射（subretinal injection）的治疗方案，有望挽救或恢复视力，但对外科医生而言极具挑战——此类操作已逼近人类运动与感知能力的极限。注射套管对视网膜的压迫过度或不足，抑或套管相对于视网膜发生位移，均可能造成视网膜损伤，或导致治疗制剂放置位置偏差。机器人辅助技术有望帮助外科医生更精准地定位注射套管，并长时间维持其位置。然而，眼科手术患者的头部运动较为常见，这会使视网膜下注射操作复杂化，但在机器人辅助系统的性能评估中，头部运动往往未被纳入考量范畴。目前尚无研究在评估机器人辅助系统时同时纳入头部运动因素，且证明其相较于手工操作能显著提升视网膜下注射的执行能力。在相关研究中，所有图像与视频均取自离体（ex vivo，即死后（post mortem））猪眼。所有视频均为搭配Heidelberg Spectralis光学相干断层扫描（optical coherence tomography, OCT）系统使用的Heidelberg Eye Explorer软件的屏幕录制内容，所用屏幕录制工具为Open Broadcaster Software（OBS）。 用于估算泡状隆起（bleb）扩张时长的图像，系从上述屏幕录制内容中提取的视频帧。研究人员使用MATLAB图像分割器（MATLAB Image Segmenter）应用程序加载提取出的视频帧，标记出视网膜下注射形成的泡状隆起区域对应的像素，并将结果保存为.mat格式文件。 压力数据通过连接至Arduino Uno的压力传感器（详见期刊论文）采集，数据存储于与Arduino通过USB线缆连接的运行Windows 10系统的计算机中。串口终端软件CoolTerm被用于在该Windows系统计算机上记录数据。 # 数据与代码来源：头戴式手术机器人是视网膜下注射的赋能技术 [https://doi.org/10.5061/dryad.w0vt4b91w](https://doi.org/10.5061/dryad.w0vt4b91w) ## 研究背景 本数据集与代码由Posselli等人发表的《头戴式手术机器人是视网膜下注射的赋能技术》一文所采集开发，该研究证明，将高精度遥操作（teleoperated）手术机器人头戴安装，可被动降低机器人与眼球间的不必要相对运动，由此实现的泡状隆起形成成功率，显著高于外科医生在静止摘除眼球上进行手工操作所能达到的成功率。本研究所用的全部眼球均为离体（即死后）猪眼。实验中，一名佩戴头戴式机器人与固定猪眼的眼架护目镜的人类受试者参与，但所有图像与视频仅展示猪眼，未包含人类受试者的任何部分。 ### 注射……