Handheld motorized injection system with fiber-optic distance sensors and adaptive time-delay controller
AbstractDuring the last decade, many ophthalmic therapeutic drugs have been clinically approved, and intraocular injection has been a common surgical intervention. Injecting drugs directly into the subretinal space is crucial to treat retinal complications effectively. Here, we report a handheld mic...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2024-12-01
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| Series: | International Journal of Optomechatronics |
| Subjects: | |
| Online Access: | https://www.tandfonline.com/doi/10.1080/15599612.2023.2299023 |
| _version_ | 1797372471116038144 |
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| author | Jintaek Im Sukho Park Cheol Song |
| author_facet | Jintaek Im Sukho Park Cheol Song |
| author_sort | Jintaek Im |
| collection | DOAJ |
| description | AbstractDuring the last decade, many ophthalmic therapeutic drugs have been clinically approved, and intraocular injection has been a common surgical intervention. Injecting drugs directly into the subretinal space is crucial to treat retinal complications effectively. Here, we report a handheld microinjector with two fiber-optic distance sensors and time-delay control (TDC) to mitigate nonlinear disturbances during the injection task. The conventional method exhibited a cosine error of approximately 77 μm at an angle of 45°, whereas our proposed needle reduced measurement errors to ∼6 μm. Also, TDC-based position regulation is designed to adaptively apply motor inputs by estimating disturbances during the handheld task and achieving fast system responses with minor control errors. Phantom studies show a maximum reduction of 26.5% in root-mean-square error (RMSE) compared to the existing approach. Moreover, ex-vivo experiments demonstrated superior and robust injection performance, resulting in an injection RMSE of 10.3 μm. |
| first_indexed | 2024-03-08T18:36:13Z |
| format | Article |
| id | doaj.art-de3ec59117b54fc184973b5f3d3dac20 |
| institution | Directory Open Access Journal |
| issn | 1559-9612 1559-9620 |
| language | English |
| last_indexed | 2024-03-08T18:36:13Z |
| publishDate | 2024-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | International Journal of Optomechatronics |
| spelling | doaj.art-de3ec59117b54fc184973b5f3d3dac202023-12-29T14:05:35ZengTaylor & Francis GroupInternational Journal of Optomechatronics1559-96121559-96202024-12-0118110.1080/15599612.2023.2299023Handheld motorized injection system with fiber-optic distance sensors and adaptive time-delay controllerJintaek Im0Sukho Park1Cheol Song2Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu, Republic of KoreaDepartment of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu, Republic of KoreaDepartment of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu, Republic of KoreaAbstractDuring the last decade, many ophthalmic therapeutic drugs have been clinically approved, and intraocular injection has been a common surgical intervention. Injecting drugs directly into the subretinal space is crucial to treat retinal complications effectively. Here, we report a handheld microinjector with two fiber-optic distance sensors and time-delay control (TDC) to mitigate nonlinear disturbances during the injection task. The conventional method exhibited a cosine error of approximately 77 μm at an angle of 45°, whereas our proposed needle reduced measurement errors to ∼6 μm. Also, TDC-based position regulation is designed to adaptively apply motor inputs by estimating disturbances during the handheld task and achieving fast system responses with minor control errors. Phantom studies show a maximum reduction of 26.5% in root-mean-square error (RMSE) compared to the existing approach. Moreover, ex-vivo experiments demonstrated superior and robust injection performance, resulting in an injection RMSE of 10.3 μm.https://www.tandfonline.com/doi/10.1080/15599612.2023.2299023Fiber-optic interferometric sensorneedle-integrated distance sensorhandheld microinjectortime-delay control (TDC) |
| spellingShingle | Jintaek Im Sukho Park Cheol Song Handheld motorized injection system with fiber-optic distance sensors and adaptive time-delay controller International Journal of Optomechatronics Fiber-optic interferometric sensor needle-integrated distance sensor handheld microinjector time-delay control (TDC) |
| title | Handheld motorized injection system with fiber-optic distance sensors and adaptive time-delay controller |
| title_full | Handheld motorized injection system with fiber-optic distance sensors and adaptive time-delay controller |
| title_fullStr | Handheld motorized injection system with fiber-optic distance sensors and adaptive time-delay controller |
| title_full_unstemmed | Handheld motorized injection system with fiber-optic distance sensors and adaptive time-delay controller |
| title_short | Handheld motorized injection system with fiber-optic distance sensors and adaptive time-delay controller |
| title_sort | handheld motorized injection system with fiber optic distance sensors and adaptive time delay controller |
| topic | Fiber-optic interferometric sensor needle-integrated distance sensor handheld microinjector time-delay control (TDC) |
| url | https://www.tandfonline.com/doi/10.1080/15599612.2023.2299023 |
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