Fig. 4: The robot system in clinical practice: Intraocular drug delivery.

A The surgeon is holding and manipulating the motion controller mounted to the headrest, which translates into controlled movement with the instrument micromanipulator. This actual surgical positioning shows the hybrid nature of the surgery with the surgeon holding the endo-illuminator in one hand, and the other hand to control the instrument manipulator. B Magnified view of the motion controller held by the surgeon, and the instrument manipulator which is docked into the scleral adaptor. C The conical scleral adaptor is fitted over the superotemporal transscleral port for docking of the tip of the instrument manipulator. D The r-TPA injection delivery system which was connected via the automated viscous fluid control port of the vitrectomy machine, allowing foot-controlled steady injection of the solution under direct intraoperative OCT visualization.