From Telerobotics Lab

Research: The OctoMag Magnetic Manipulation System for Intraocular Microrobots

This project was conducted in Brad Nelson's lab at ETH Zurich.

The OctoMag is the first system to enable 5-DOF manipulation of a fully untethered and unencumbered microdevice. The goal of this project was to enable targeted drug delivery for retinal vein occlusions. More detail can be found in the paper OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation.


We developed methods to localize microdevices inside the human eye using a single camera. The algorithms utilize models of the human eye's optics, combined with camera sensor that moves relative to its lens as part of the localization process. More detail can be found in the paper Single-Camera Focus-Based Localization of Intraocular Devices.


The influence of oxygen on various ophthalmologic complications is not completely understood and intraocular oxygen measurements are essential for better diagnosis and treatment. A magnetically controlled wireless sensor device was developed that works based on quenching of luminescence in the presence of oxygen. More detail can be found in the paper A Magnetically Controlled Wireless Optical Oxygen Sensor for Intraocular Measurements.


We also conducted experiments to determine the force required to puncture retinal blood vessels. A chick chorioallantoic membrane was used as a model of retinal vasculature. More detail can be found in the paper Characterization of Puncture Forces for Retinal Vein Cannulation.

Selected Publications

M. P. Kummer, J. J. Abbott, B. E. Kratochvil, R. Borer, A. Sengul, and B. J. Nelson, "OctoMag: An Electromagnetic Systems for 5-DOF Wireless Micromanipulation," IEEE Trans. Robotics, 26(6):1006-1017, 2010.
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C. Bergeles, K. Shamaei, J. J. Abbott, and B. J. Nelson, "Single-Camera Focus-Based Localizing of Intraocular Devices," IEEE Trans. Biomedical Engineering, 57(8):2064-2074, 2010.
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O. Ergeneman, G. Dogangil, M. P. Kummer, J. J. Abbott, M. K. Nazeeruddin, and B. J. Nelson, "A Magnetically Controlled Wireless Optical Oxygen Sensor for Intraocular Measurements," IEEE Sensors J., 8(1):29-37, 2008.
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O. Ergeneman, J. Pokki, V. Počepcová, H. Hall, J. J. Abbott, and B. J. Nelson, "Characterization of Puncture Forces for Retinal Vein Cannulation," J. Medical Devices, 5(044504), 2011.
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O. Ergeneman, C. Bergeles, M. P. Kummer, J. J. Abbott, and B. J. Nelson, "Wireless Intraocular Microrobots: Opportunities and Challenges," in J. Rosen et al. (eds.), Surgical Robotics: Systems Applications and Visions, pp. 271-311, 2011.
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Page last modified on November 17, 2011, at 10:36 AM