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Micromachines
Volume 12
Issue 5
10.3390/mi12050484
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Article

Sensor-Embedded Automatic Grasping Forceps for Precise Corneal Suture in Penetrating Keratoplasty

by
Hyung-Gon Shin
1,
Ikjong Park
1,
Keehoon Kim
1,
Hong-Kyun Kim
2 and
Wan-Kyun Chung
1,3,*
1
Department of Mechanical Engineering, Pohang University of Science and Technology, Pohang 37673, Korea
2
Department of Ophthalmology, School of Medicine, Kyungpook National University, Daegu 41944, Korea
3
Institute for Convergence Research and Education in Advanced Technology, Yonsei University, Seoul 03722, Korea
*
Author to whom correspondence should be addressed.
Micromachines 2021, 12(5), 484; https://doi.org/10.3390/mi12050484
Submission received: 21 March 2021 / Revised: 19 April 2021 / Accepted: 21 April 2021 / Published: 23 April 2021
(This article belongs to the Special Issue Soft Robotic Medical Devices)
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Abstract

In penetrating keratoplasty (PKP), the proper corneal suture placement is very important for successful transplantation and restoring functional vision. Generating sutures with accurate depth is difficult for the surgeon because of the tissue’s softness, lack of depth information, and hand tremors. In this paper, an automatic cornea grasping device is proposed, which detects when the device reaches the target suture depth. When the device reaches the target depth, the device rapidly grasps the cornea to prevent error induced by human hand tremors. In the paper, the performance of the proposed sensor, the actuator, and the device are experimentally verified with ex vivo experiment. The result showed that the proposed device could enhance the accuracy and precision of the corneal suture depth.
Keywords: medical robot; keratoplasty; corneal transplantation; microfabrication medical robot; keratoplasty; corneal transplantation; microfabrication

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MDPI and ACS Style

Shin, H.-G.; Park, I.; Kim, K.; Kim, H.-K.; Chung, W.-K. Sensor-Embedded Automatic Grasping Forceps for Precise Corneal Suture in Penetrating Keratoplasty. Micromachines 2021, 12, 484. https://doi.org/10.3390/mi12050484

AMA Style

Shin H-G, Park I, Kim K, Kim H-K, Chung W-K. Sensor-Embedded Automatic Grasping Forceps for Precise Corneal Suture in Penetrating Keratoplasty. Micromachines. 2021; 12(5):484. https://doi.org/10.3390/mi12050484

Chicago/Turabian Style

Shin, Hyung-Gon, Ikjong Park, Keehoon Kim, Hong-Kyun Kim, and Wan-Kyun Chung. 2021. "Sensor-Embedded Automatic Grasping Forceps for Precise Corneal Suture in Penetrating Keratoplasty" Micromachines 12, no. 5: 484. https://doi.org/10.3390/mi12050484

APA Style

Shin, H.-G., Park, I., Kim, K., Kim, H.-K., & Chung, W.-K. (2021). Sensor-Embedded Automatic Grasping Forceps for Precise Corneal Suture in Penetrating Keratoplasty. Micromachines, 12(5), 484. https://doi.org/10.3390/mi12050484

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