Fig. 5: Autonomous surgical robot creates a precise capsulorhexis opening using digital features from MetaS.
From: Digitalization of surgical features improves surgical accuracy via surgeon guidance and robotization
a Schematic diagrams of the autonomous surgical robot built to perform capsulorhexis in an ex vivo porcine eye. b The movement path of the robotic arm holding a diathermic capsulorhexis tip in the porcine eye. The robotic arm moved from the initial position along the perpendicular line of the corneal incision, and the distance between the initial position of the diathermic capsulorhexis tip and the corneal incision was defined as S. R is the corneal radius; r is the target radius of the CO (5.3 mm); and a is the maximum RCM angle. c Performing autonomous diathermic capsulorhexis. After the diathermic capsulorhexis tip reached the target position, it completed a diathermic capsulorhexis autonomously according to the capsulorhexis path provided by the MetaS.
