The development of system for measurement of needle insertion force into eye

The measurement of needle insertion characteristics into eye is required to develop eye mimicking material, realistic suturing simulator, and micro-suturing robot, however, the measurement is not easy because of the small size and intraocular pressure (IOP) of eye. The optical coherence tomography (OCT) integrated needle insertion system and IOP control system are proposed to solve the above problems. To measure the coefficients of the needle insertion model, the system can insert the needle into eye using constant velocity mode and sinusoidal velocity mode. By integrating OCT system, the measurement system can observe the insertion force, tissue deformation, and needle position simultaneously.