Retina Surgery Training System

Project Info

RESET Project

Funding RESET ANR project

Objective Development of a new REtinal Surgery systEm for Training

Date 2014 — 2017





People Involved

Project Description

According to the world health organization, retinal diseases are responsible for at least 10 millions of blind people. They represent already 15% of the causes of visual impairment and are probably underestimated.

Retina surgery is complex, various and patient-specific. The full breadth of training for a retina specialist represents on average more than 10 years. This is obviously related to the difficulty of accessing the retina and possible complication rates in case of errors, but also due to the relatively large number of surgical options: retinal laser surgery (used to treat a variety of problems including retinal tears, retinal holes, small retinal detachments and leaking blood vessels); scleral buckling surgery (considered as the traditional surgery for retinal detachments); pneumatic retinopexy (involves the intraocular injection of an inert gas bubble to press on the retina and seal the retinal break); and vitrectomy (used to treat the most severe retinal detachments).

Throughout this project we have developed a high-fidelity training system for retinal surgery. The simulator uses a custom-designed hardware (developed by MOOG, in collaboration with HelpMeSee) which includes a haptic interface and a binocular. The haptics uses an admittance control paradigm, involving a force sensor for high fidelity feel. On the software side, we have continued the development of a realistic eye model (work initially started for our project on cataract surgery). The main novelties include the interactive placement of trocars, the insertion of various instruments through the trocars, and the manipulation of the epiretinal membrane. The membrane is modeled as a set of shell elements solved using a FEM method. Tearing of the virtual membrane is computed using stress or strain analysis. All computations are performed in real-time and include the computation of the deformation, collision detection, collision response and realistic rendering.


RESET: REtinal Surgery systEm for Training. S. Cotin, J.J. Keppi, J. Allard, R. Bessard, H. Courtecuisse, D. Gaucher.  European Association for Vision and Eye Research Conference, 2015.

Haptic Rendering of Hyperelastic Models with Friction. H. Courtecuisse, Y. Adagolodjo, H. Delingette, C. Duriez. International Conference on Intelligent Robots and Systems (IROS), 2015.

Présentation et résultats préliminaires d’un projet de simulateur de chirurgie rétinienne. D. Gaucher, R. Bessard-Duparc, S. Cotin. 121e Congrès de la Société Française d’Ophtalmologie, 2015

(Article on quadratic FEM membranes to be submitted at Symposium on Computer Animation 2017

Article on the overall system to be submitted to a journal (Journal of the American Academy of Ophthalmology) – if they were submitted where are they?)

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