Toward robotically assisted membrane peeling with 3-DOF distal force sensing in retinal microsurgery

Toward robotically assisted membrane peeling with 3-DOF distal force sensing in retinal microsurgery. Xingchi He, Gehlbach, P., Handa, J., Taylor, R., & Iordachita, I. In 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pages 6859–6863, Chicago, IL, August, 2014. IEEE.

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Retinal microsurgery requires steady and precise manipulation of delicate eye tissues in a very small space. Physiological hand tremor and lack of force sensing are among the main technical challenges, limiting surgical performance. We present a system that consists of the cooperatively controlled Steady-Hand Eye Robot and a miniaturized 3-DOF force sensing instrument to address these limitations. While the robot can effectively suppress hand tremor, enable steady and precise tissue manipulation, the force sensing instrument can provide three dimensional force measurements at the tool tip with submillinewton resolution. Auditory sensory substitution is used to give the user real time force information. Evaluation experiments are conducted using artiﬁcial and biological membrane peeling phantoms. Experimental results show that the robotic assistance and force-to-audio sensory substitution can effectively control the magnitude of the tool-to-tissue force. The direction proﬁles of the membrane peeling forces reﬂect the different delaminating strategies for different membrane phantoms.

@inproceedings{xingchi_he_toward_2014,
	address = {Chicago, IL},
	title = {Toward robotically assisted membrane peeling with 3-{DOF} distal force sensing in retinal microsurgery},
	isbn = {978-1-4244-7929-0},
	url = {http://ieeexplore.ieee.org/document/6945204/},
	doi = {10.1109/EMBC.2014.6945204},
	abstract = {Retinal microsurgery requires steady and precise manipulation of delicate eye tissues in a very small space. Physiological hand tremor and lack of force sensing are among the main technical challenges, limiting surgical performance. We present a system that consists of the cooperatively controlled Steady-Hand Eye Robot and a miniaturized 3-DOF force sensing instrument to address these limitations. While the robot can effectively suppress hand tremor, enable steady and precise tissue manipulation, the force sensing instrument can provide three dimensional force measurements at the tool tip with submillinewton resolution. Auditory sensory substitution is used to give the user real time force information. Evaluation experiments are conducted using artiﬁcial and biological membrane peeling phantoms. Experimental results show that the robotic assistance and force-to-audio sensory substitution can effectively control the magnitude of the tool-to-tissue force. The direction proﬁles of the membrane peeling forces reﬂect the different delaminating strategies for different membrane phantoms.},
	language = {en},
	urldate = {2020-04-21},
	booktitle = {2014 36th {Annual} {International} {Conference} of the {IEEE} {Engineering} in {Medicine} and {Biology} {Society}},
	publisher = {IEEE},
	author = {{Xingchi He} and Gehlbach, Peter and Handa, James and Taylor, Russell and Iordachita, Iulian},
	month = aug,
	year = {2014},
	pages = {6859--6863},
}

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