ABSTRACT
PURPOSE: To test the feasibility of retinal manipulations using a new micromanipulator (Microhand) for ocular robotic microsurgery. METHODS: Pneumatically actuated four-finger microhands were developed at UCLA with micro electromechanical systems (MEMS) technology to mimic a human hand for small object manipulation. Microhands with four 4 mm finger lengths were used for this study to lift caliper weights and fresh retinal tissue of porcine cadaver eyes to find the maximum force at a given pressure and feasibility of the microhands for retinal manipulation in real surgery. RESULTS: A full closure of the microhand used for caliper weight lifting was achieved under 65 psi (448 kPa) of air pressure. The four-fingered microhand was able to develop about 20 mN of total lifting force and 5 mN per finger at 80 psi (551 kPa), and was strong enough to displace and lift the retina of pig eyes. CONCLUSIONS: The microhand is able to apply calibrated forces to ocular tissues and is suitable for ocular microsurgical procedures. This new tool would be useful in the development of robotic microsurgery.
