Design and Evaluation of an Eye Mountable AutoDALK Robot for Deep Anterior Lamellar Keratoplasty

Justin D. Opfermann; Yaning Wang; James Kaluna; Kensei Suzuki; William Gensheimer; Axel Krieger; Jin U. Kang

doi:10.3390/mi15060788

Micromachines (Jun 2024)

Design and Evaluation of an Eye Mountable AutoDALK Robot for Deep Anterior Lamellar Keratoplasty

Justin D. Opfermann,
Yaning Wang,
James Kaluna,
Kensei Suzuki,
William Gensheimer,
Axel Krieger,
Jin U. Kang

Affiliations

Justin D. Opfermann: Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
Yaning Wang: Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA
James Kaluna: Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
Kensei Suzuki: Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
William Gensheimer: Ophthalmology Section, White River Junction Veterans Affairs Medical Center, White River Junction, VT 05009, USA
Axel Krieger: Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA
Jin U. Kang: Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA

DOI: https://doi.org/10.3390/mi15060788
Journal volume & issue: Vol. 15, no. 6
p. 788

Abstract

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Partial-thickness corneal transplants using a deep anterior lamellar keratoplasty (DALK) approach has demonstrated better patient outcomes than a full-thickness cornea transplant. However, despite better clinical outcomes from the DALK procedure, adoption of the technique has been limited because the accurate insertion of the needle into the deep stroma remains technically challenging. In this work, we present a novel hands-free eye mountable robot for automatic needle placement in the cornea, AutoDALK, that has the potential to simplify this critical step in the DALK procedure. The system integrates dual light-weight linear piezo motors, an OCT A-scan distance sensor, and a vacuum trephine-inspired design to enable the safe, consistent, and controllable insertion of a needle into the cornea for the pneumodissection of the anterior cornea from the deep posterior cornea and Descemet’s membrane. AutoDALK was designed with feedback from expert corneal surgeons and performance was evaluated by finite element analysis simulation, benchtop testing, and ex vivo experiments to demonstrate the feasibility of the system for clinical applications. The mean open-loop positional deviation was 9.39 µm, while the system repeatability and accuracy were 39.48 µm and 43.18 µm, respectively. The maximum combined thrust of the system was found to be 1.72 N, which exceeds the clinical penetration force of the cornea. In a head-to-head ex vivo comparison against an expert surgeon using a freehand approach, AutoDALK achieved more consistent needle depth, which resulted in fewer perforations of Descemet’s membrane and significantly deeper pneumodissection of the stromal tissue. The results of this study indicate that robotic needle insertion has the potential to simplify the most challenging task of the DALK procedure, enable more consistent surgical outcomes for patients, and standardize partial-thickness corneal transplants as the gold standard of care if demonstrated to be more safe and more effective than penetrating keratoplasty.

Published in Micromachines

ISSN: 2072-666X (Online)
Publisher: MDPI AG
Country of publisher: Switzerland
LCC subjects: Technology: Mechanical engineering and machinery
Website: https://www.mdpi.com/journal/micromachines

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