Evaluating force and motion in posterior vitreous detachment manoeuvres using a robotic data acquisition system in cadaveric human eyes

Sep 30, 2026

Uploaded by Đào

Deep vitrectomy is a demanding ophthalmic procedure requiring precise instrument control, and mastering it remains difficult. This study evaluated the ARASH:ASiST robotic system for real-time, quantitative assessment of deep vitrectomy in pre-clinical cadaveric human eyes. The platform records force and motion without disrupting workflow, using calibrated sensors, a custom eye holder, and a real-time interface. Four surgeons performed the “drunk walk” manoeuvre while Normalised Jerk and force metrics were analyzed.

LanguageEnglish

CategoryHealthcare

FormatPDF

Pages16

Reading Time40 min

AccessFree to download

Study overview

Robotic DAQ rationale

Preclinical setup and calibration

Surgical trials and quantitative metrics

Statistical comparison and feasibility

[www. nature.com/scientificreports](www. nature.com/scientificreports) OPEN Evaluating force and motion in posterior vitreous detachment manoeuvres using a robotic data acquisition system in cadaveric human eyes Reza Heidari1, EsmaeilAsadi Khameneh2, Ali Rastaghi1, Mohammad Reza Dindarloo1, Mohammad Mahdi Nazeri Ardakani1, Mohammad Javad Ahmadi1, Maryam Mohammadzadeh2, Hamid Riazi-Esfahani2, Alireza Lashay2, Mohammad Motaharifar3, Seyed-Farzad Mohammadi2􀀍, Mahdi Tavakoli4 & Hamid D. Taghirad1􀀍 Deep vitrectomy, a complex ophthalmic procedure, demands precise instrument control and remains challenging to master. This study evaluated theARASH:ASiST robotic system as a platform for realtime, quantitative assessment of deep vitrectomy in a pre-clinical setting using cadaveric human eyes. The system records force and motion data without disrupting the surgical workflow. Cadaveric eyes were prepared under strict safety protocols, and a mannequin head with a customised eye holder was designed, refined through repeated testing, and approved by surgeons to fully imitate realworld conditions. Four surgeons with different levels of experience, defined by their years of practice, performed the “drunk walk” manoeuvre while intraoperative force, positional, and temporal data were captured. Despite the inherent limitations of human cadaveric eyes, the aim was to reproduce the drunk walk method as a precise, predefined trajectory for posterior vitreous detachment induction. In total, 14 surgical trials were recorded: 2 from one expert surgeon (right-handed), 4 from two fellows (right-handed), and 8 from one intermediate surgeon, who performed four procedures with each hand. Quantitative metrics, including Normalised Jerk, Force Range, Peak Force Magnitude, and Force RMS, were used to compare individual performances. Group-level comparisons between expert, fellow, and intermediate surgeons were conducted using ANOVA and Kruskal–Wallis tests. While not statistically significant, likely due to the limited sample size, the analysis of descriptive statistics and effect sizes indicated potential trends in performance metrics across experience levels, highlighting the feasibility of the platform for capturing such variations. During data acquisition, the robotic system’s remotecentre-of-motion was accurately calibrated with laser-based technology, while encoders and force sensors were also precisely calibrated. The system’s real-time graphical interface provided immediate feedback and enabled detailed postoperative analysis. Usability testing confirmed its practicality and non-intrusiveness. Overall, theARASH:ASiST system demonstrates feasibility as an objective platform for the evaluation of deep vitrectomy based on ex vivo results. These findings support further validation of this prototype in synthetic and clinical environments. Keywords Vitreoretinal Surgery, Surgical Data Acquisition, Cadaveric Human Eyes 1Applied Robotics and AI Solutions (ARAS), Faculty of Electrical Engineering, K. N. Toosi University of Technology, Seyed-Khandan Brg., Shariati Ave., 16317-14191 Tehran, Iran. 2Translational Ophthalmology Research Centre, Farabi Eye Hospital, Tehran University of Medical Sciences, 13366-16351 Tehran, Iran. 3Department of Electrical Engineering, University of Isfahan, Sanaat Bldg., 81746-73441 Isfahan, Iran. 4Department of Electrical and Computer Engineering and Department of Biomedical Engineering, University of Alberta, T6G 1H9 Edmonton, AB, Canada. 􀀍 email: [sfmohammadi@sina.tums.ac.ir](sfmohammadi@sina.tums.ac.ir); [taghirad@kntu.ac.ir](taghirad@kntu.ac.ir) [www. nature.com/scientificreports/](www. nature.com/scientificreports/) Modern surgical data acquisition (DAQ) systems enable precise recording and analysis of surgical techniques through multimodal sensing technologies1. Among these, force and positional measurements provide critical intuition into technical proficiency through the high-precision capture of key surg

FAQs

What does the ARASH:ASiST system measure during posterior vitreous detachment manoeuvres?

It records real-time force and motion data during deep vitrectomy manoeuvres, enabling quantitative assessment without interrupting the workflow.

How were the cadaveric eyes and the experimental setup prepared?

Cadaveric eyes were prepared under strict safety protocols, and a mannequin head with a customised eye holder was iteratively refined and approved by surgeons to mimic real-world conditions.

How were surgeon performances compared across experience levels?

Four surgeons of differing experience performed the manoeuvre while metrics such as Normalised Jerk and force statistics were computed, then group comparisons used ANOVA and Kruskal–Wallis tests.

Sep 30, 2026

Uploaded by Đào