Peter Gehlbach

Professor

1993 …2019
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Research Output 1993 2019

2019

Adaptive control of sclera force and insertion depth for safe robot-assisted retinal surgery

Ebrahimi, A., Patel, N., He, C., Gehlbach, P., Kobilarov, M. & Iordachita, I., May 1 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., p. 9073-9079 7 p. 8793658. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Surgery
Robots
End effectors
Fiber optics
Robotics

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback

Ebrahimi, A., He, C., Patel, N., Kobilarov, M., Gehlbach, P. & Iordachita, I., May 8 2019, 2019 International Symposium on Medical Robotics, ISMR 2019. Institute of Electrical and Electronics Engineers Inc., 8710205. (2019 International Symposium on Medical Robotics, ISMR 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Force control
Surgery
Robots
End effectors
Feedback
2018

Posterior Vitreous Detachment as Observed by Wide-Angle OCT Imaging

Tsukahara, M., Mori, K., Gehlbach, P. & Mori, K., Jan 1 2018, (Accepted/In press) In : Ophthalmology.

Research output: Contribution to journalArticle

Vitreous Detachment
Gels
Vitreoretinal Surgery
Sclera
Surgery
Robots
Feedback

Robot-assisted tremor control for performance enhancement of retinal microsurgeons

Roizenblatt, M., Grupenmacher, A. T., Belfort Junior, R., Maia, M. & Gehlbach, P., Jan 1 2018, (Accepted/In press) In : British Journal of Ophthalmology.

Research output: Contribution to journalArticle

Tremor
Microsurgery
Hand
Robotics
Epiretinal Membrane

Robotic surgery for the eye

Gehlbach, P., Sep 1 2018, In : Nature biomedical engineering. 2, 9, p. 627-628 2 p.

Research output: Contribution to journalArticle

Robotics
Robotic surgery

The question of a role for statins in age-related macular degeneration

Roizenblatt, M., Naranjit, N., Maia, M. & Gehlbach, P., Nov 1 2018, In : International Journal of Molecular Sciences. 19, 11, 3688.

Research output: Contribution to journalReview article

Hydroxymethylglutaryl-CoA Reductase Inhibitors
degeneration
Cholesterol
Macular Degeneration
progressions

Towards Bimanual Robot-Assisted Retinal Surgery: Tool-to-Sclera Force Evaluation

He, C., Roizenblatt, M., Patel, N., Ebrahimi, A., Yang, Y., Gehlbach, P. & Lordachita, L., Dec 26 2018, 2018 IEEE SENSORS, SENSORS 2018 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., Vol. 2018-October. 8589810

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Surgery
Robots
Hand tools
Fiber Bragg gratings
End effectors

User Behavior Evaluation in Robot-Assisted Retinal Surgery

He, C., Ebrahimi, A., Roizenblatt, M., Patel, N., Yang, Y., Gehlbach, P. & Iordachita, I., Nov 6 2018, RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication. Institute of Electrical and Electronics Engineers Inc., p. 174-179 6 p. 8525638

Research output: Chapter in Book/Report/Conference proceedingConference contribution

behavior evaluation
robot
Surgery
surgery
Robotics
2017

3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery

Gonenc, B., Chamani, A., Handa, J., Gehlbach, P., Taylor, R. H. & Iordachita, I., Jun 1 2017, In : IEEE Sensors Journal. 17, 11, p. 3526-3541 16 p., 7903591.

Research output: Contribution to journalArticle

robots
surgery
Surgery
Robots
Sensors

Evaluation of optical coherence tomography distal sensor with high-index elliptical cone epoxy lens

Lee, S., Lee, C., Jeremy Chae, J., Cheon, G., Gonenc, B., Gehlbach, P. & Kang, J. U., Oct 25 2017, 2017 Conference on Lasers and Electro-Optics, CLEO 2017 - Proceedings. Institute of Electrical and Electronics Engineers Inc., Vol. 2017-January. p. 1-2 2 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Optical tomography
Cones
Lenses
cones
tomography

Ex vivo study of diffusion of indocyanine green (ICG) in cow retinal layers using optical coherence tomography

Lee, C., Lee, S., Chae, J. J., Cheon, G., Gonenc, B., Gehlbach, P. & Kang, J. U., Oct 25 2017, 2017 Conference on Lasers and Electro-Optics, CLEO 2017 - Proceedings. Institute of Electrical and Electronics Engineers Inc., Vol. 2017-January. p. 1-2 2 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Indocyanine Green
Optical tomography
tomography
retina

Motorized Micro-Forceps with Active Motion Guidance based on Common-Path SSOCT for Epiretinal Membranectomy

Cheon, G. W., Gonec, B., Taylor, R. H., Gehlbach, P. & Kang, J. U., Sep 4 2017, (Accepted/In press) In : IEEE/ASME Transactions on Mechatronics.

Research output: Contribution to journalArticle

Optical tomography
Sensors
Fibers
Monitoring
Polymers

Safe tissue manipulation in retinal microsurgery via motorized instruments with force sensing

Gonenc, B., Gehlbach, P., Taylor, R. H. & Iordachita, I., Dec 21 2017, IEEE SENSORS 2017 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., Vol. 2017-December. p. 1-3 3 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Peeling
Tissue
Membranes
Fiber Bragg gratings
Adhesion

Towards robot-assisted retinal vein cannulation: A motorized force-sensing microneedle integrated with a handheld micromanipulator

Gonenc, B., Chae, J., Gehlbach, P., Taylor, R. H. & Iordachita, I., Oct 1 2017, In : Sensors (Switzerland). 17, 10, 2195.

Research output: Contribution to journalArticle

Micromanipulators
Retinal Vein
robots
veins
Catheterization
2016

3-DOF force-sensing micro-forceps for robot-Assisted membrane peeling: Intrinsic actuation force modeling

Gao, A., Gonenc, B., Guo, J., Liu, H., Gehlbach, P. & Iordachita, I., Jul 26 2016, 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. IEEE Computer Society, Vol. 2016-July. p. 489-494 6 p. 7523674

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Peeling
Robots
Membranes
Tissue
Fiber Bragg gratings

Active depth-guiding handheld micro-forceps for membranectomy based on CP-SSOCT

Cheon, G. W., Lee, P., Gonenc, B., Gehlbach, P. & Kang, J. U., 2016, Optical Fibers and Sensors for Medical Diagnostics and Treatment Applications XVI. SPIE, Vol. 9702. 97020C

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Peeling
Surgical Instruments
peeling
retina
Membranes

Development and preliminary results of bimanual smart micro-surgical system using a ball-lens coupled OCT distance sensor

Koo, D., Park, H. C., Gehlbach, P. & Song, C., Nov 1 2016, In : Biomedical Optics Express. 7, 11, p. 4816-4826 11 p., #270376.

Research output: Contribution to journalArticle

Lenses
balls
Hand
lenses
Microsurgery

Dual optical coherence tomography sensor guided, two-motor, horizontal SMART micro-scissors

Yeo, C., Park, H. C., Jang, S., Gehlbach, P. & Song, C., Oct 15 2016, In : Optics Letters. 41, 20, p. 4723-4726 4 p.

Research output: Contribution to journalArticle

surgeons
tremors
tomography
dissection
sensors

Ghost reduction in CP-SSOCT having multiple references using Fourier-domain shift and sum

Cheon, G. W., Gehlbach, P. & Kang, J. U., Sep 15 2016, In : IEEE Photonics Technology Letters. 28, 18, p. 1972-1975 4 p., 7491223.

Research output: Contribution to journalArticle

Optical tomography
ghosts
Lenses
Aluminum Oxide
shift

Retinochoroidal morphology described by wide-field montage imaging of spectral domain optical coherence tomography

Mori, K., Kanno, J. & Gehlbach, P., Feb 1 2016, In : Retina. 36, 2, p. 375-384 10 p.

Research output: Contribution to journalArticle

Optical Coherence Tomography
Retina
Choroid
Retinal Pigment Epithelium
Ganglia

Robot-assisted retinal vein cannulation with force-based puncture detection: Micron vs. the steady-hand eye robot

Gonenc, B., Tran, N., Gehlbach, P., Taylor, R. H. & Iordachita, I., Oct 13 2016, 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-October. p. 5107-5111 5 p. 7591876

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Retinal Vein
End effectors
Punctures
Catheterization
Hand

Statins for age-related macular degeneration

Gehlbach, P., Li, T. & Hatef, E., Aug 4 2016, In : Cochrane Database of Systematic Reviews. 2016, 8, CD006927.

Research output: Contribution to journalArticle

Hydroxymethylglutaryl-CoA Reductase Inhibitors
Simvastatin
Macular Degeneration
Placebos
Visual Acuity
2015

Accurate real-time depth control for CP-SSOCT distal sensor based handheld microsurgery tools

Cheon, G. W., Huang, Y., Cha, J., Gehlbach, P. & Kang, J. U., 2015, In : Biomedical Optics Express. 6, 5, p. 1942-1953 12 p., A031.

Research output: Contribution to journalArticle

Microsurgery
Optical Coherence Tomography
tomography
Retina
sensors

Development of the dual SMART micro-surgical system using common-path swept source optical coherence tomography

Park, H. C., Yeo, C. B., Gehlbach, P. & Song, C., Nov 4 2015, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-November. p. 5-8 4 p. 7318247

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Dissection
Optical tomography
Optical Coherence Tomography
Hand
Tremor

Effects of micro-vibratory modulation during robot-assisted membrane peeling

Gonenc, B., Gehlbach, P., Taylor, R. H. & Iordachita, I., Dec 11 2015, IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-December. p. 3811-3816 6 p. 7353912

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Peeling
Delamination
Modulation
Robots
Membranes

FBG-based sensorized light pipe for robotic intraocular illumination facilitates bimanual retinal microsurgery

Horise, Y., He, X., Gehlbach, P., Taylor, R. H. & Iordachita, I., Nov 4 2015, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-November. p. 13-16 4 p. 7318249

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Microsurgery
Robotics
Fiber Bragg gratings
Lighting
Surgery

Force-based puncture detection and active position holding for assisted retinal vein cannulation

Gonenc, B., Tran, N., Riviere, C. N., Gehlbach, P., Taylor, R. H. & Iordachita, I., Oct 9 2015, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-October. p. 322-327 6 p. 7295828

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Drug delivery
Needles
Micromanipulators
Membranes
Testing

Inhibition of Corneal Neovascularization by Subconjunctival Injection of Fc-Endostatin, a Novel Inhibitor of Angiogenesis

Yoshida, J., Wicks, R. T., Zambrano, A. I., Tyler, B. M., Javaherian, K., Grossman, R., Daoud, Y., Gehlbach, P., Brem, H. & Stark, W. J., 2015, In : Journal of Ophthalmology. 2015, 137136.

Research output: Contribution to journalArticle

Corneal Neovascularization
Endostatins
Angiogenesis Inhibitors
Rabbits
Cornea

Interventions for central serous chorioretinopathy: A network meta-analysis

Salehi, M., Wenick, A., Law, H. A., Evans, J. R. & Gehlbach, P., Aug 17 2015, In : Cochrane Database of Systematic Reviews. 2015, 8, CD011841.

Research output: Contribution to journalArticle

Central Serous Chorioretinopathy
Network Meta-Analysis

Interventions for central serous chorioretinopathy: a network meta-analysis

Salehi, M., Wenick, A., Law, H. A. N., Evans, J. R. & Gehlbach, P., 2015, In : The Cochrane database of systematic reviews. 12, p. CD011841

Research output: Contribution to journalArticle

Central Serous Chorioretinopathy
Photochemotherapy
Lasers
Vascular Endothelial Growth Factor A
Confidence Intervals

IRIS: Integrated Robotic Intraocular Snake

He, X., Van Geirt, V., Gehlbach, P., Taylor, R. H. & Iordachita, I., Jun 29 2015, Proceedings - IEEE International Conference on Robotics and Automation. June ed. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-June. p. 1764-1769 6 p. 7139426

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Robotics
Wire
Surgery
Mechanics
Kinematics

Outcomes associated with concurrent iris-sutured intraocular lens placement and subluxated crystalline lens extraction

McClellan, S. F., Soiberman, U., Gehlbach, P., Murakami, P. N. & Stark, W. J., Aug 1 2015, In : JAMA Ophthalmology. 133, 8, p. 867-873 7 p.

Research output: Contribution to journalArticle

Crystalline Lens
Intraocular Lenses
Iris
Temazepam
Astigmatism

Pars plana vitrectomy and iris suture fixation of posteriorly dislocated intraocular lenses

Soiberman, U., Gehlbach, P., Murakami, P. & Stark, W. J., Jul 1 2015, In : Journal of Cataract and Refractive Surgery. 41, 7, p. 1454-1460 7 p., 8848.

Research output: Contribution to journalArticle

Temazepam
Intraocular Lenses
Vitrectomy
Iris
Sutures

Posterior vitreous mobility delineated by tracking of optical coherence tomography images in eyes with idiopathic macular holes

Mori, K., Gehlbach, P. & Kishi, S., Jun 1 2015, In : American Journal of Ophthalmology. 159, 6, p. 1132-1141.e1

Research output: Contribution to journalArticle

Retinal Perforations
Optical Coherence Tomography
Eye Movements
Retina
Software

Predictors of visual outcomes following boston type 1 keratoprosthesis implantation

Ahmad, S., Akpek, E. K., Gehlbach, P., Dunlap, K. & Ramulu, P., Apr 1 2015, In : American Journal of Ophthalmology. 159, 4, p. 739-747 9 p.

Research output: Contribution to journalArticle

Glaucoma
Visual Acuity
Choroid Diseases
Trabeculectomy
Tertiary Care Centers

Statins for age-related macular degeneration

Gehlbach, P., Li, T. & Hatef, E., 2015, In : The Cochrane database of systematic reviews. 2, p. CD006927

Research output: Contribution to journalArticle

Hydroxymethylglutaryl-CoA Reductase Inhibitors
Macular Degeneration
Simvastatin
Placebos
Visual Acuity
2014

A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery

He, X., Balicki, M., Gehlbach, P., Handa, J., Taylor, R. H. & Iordachita, I., Sep 22 2014, Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 1411-1418 8 p. 6907037

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Robots
Robotics
Feedback
End effectors
Demonstrations

A submillimetric 3-DOF force sensing instrument with integrated fiber bragg grating for retinal microsurgery

He, X., Handa, J., Gehlbach, P., Taylor, R. H. & Iordachita, I., Feb 2014, In : IEEE Transactions on Biomedical Engineering. 61, 2, p. 522-534 13 p., 6609063.

Research output: Contribution to journalArticle

Fiber Bragg gratings
Sensors
Calibration
Surgery
Fatigue of materials

CP-OCT sensor guided SMART micro-forceps

Song, C., Gehlbach, P. & Kang, J. U., 2014, Progress in Biomedical Optics and Imaging - Proceedings of SPIE. SPIE, Vol. 8938. 893814

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Optical tomography
Optical Coherence Tomography
optical paths
Surgical Instruments
tomography

Development of a miniaturized 3-DOF force sensing instrument for robotically assisted retinal microsurgery and preliminary results

He, X., Gehlbach, P., Handa, J., Taylor, R. H. & Iordachita, I., Sep 30 2014, "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. IEEE Computer Society, p. 252-258 7 p. 6913785

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sensors
Fiber Bragg gratings
Crosstalk
Robotics
Calibration

Force-sensing microneedle for assisted retinal vein cannulation

Gonenc, B., Taylor, R. H., Iordachita, I., Gehlbach, P. & Handa, J., Dec 12 2014, Proceedings of IEEE Sensors. December ed. Institute of Electrical and Electronics Engineers Inc., Vol. 2014-December. p. 698-701 4 p. 6985095

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Piercing
Drug delivery
Needles
Fiber Bragg gratings
Robotics

Human eye phantom for developing computer and robot-assisted epiretinal membrane peeling

Gupta, A., Gonenc, B., Balicki, M., Olds, K., Handa, J., Gehlbach, P., Taylor, R. H. & Iordachita, I., Nov 2 2014, 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014. Institute of Electrical and Electronics Engineers Inc., p. 6864-6867 4 p. 6945205

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Artificial Eye
Micromanipulators
Epiretinal Membrane
Peeling
Microsurgery

Injection-depth-locking axial motion guided handheld micro-injector using CP-SSOCT

Cheon, G. W., Huang, Y., Kwag, H. R., Kim, K. Y., Taylor, R. H., Gehlbach, P. & Kang, J. U., Nov 2 2014, 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014. Institute of Electrical and Electronics Engineers Inc., p. 6163-6166 4 p. 6945036

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Optical tomography
Optical Coherence Tomography
Needles
Dyes
Fluorescein

Introduction to gene therapy and related techniques for retinal disorders and age-related macular degeneration

Leder, H. A., Mori, K. & Gehlbach, P., Sep 4 2014, Age-Related Macular Degeneration: Second Edition. Wolters Kluwer Health Adis (ESP)

Research output: Chapter in Book/Report/Conference proceedingChapter

Motorized force-sensing micro-forceps with tremor cancelling and controlled micro-vibrations for easier membrane peeling

Gonenc, B., Gehlbach, P., Handa, J., Taylor, R. H. & Iordachita, I., Sep 30 2014, "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. IEEE Computer Society, p. 244-251 8 p. 6913784

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Peeling
Membranes
Delamination
Fibrous membranes
Micromanipulators

Ocular localization and transduction by adenoviral vectors are serotype-dependent and can be modified by inclusion of rgd fiber modifications

Ueyama, K., Mori, K., Shoji, T., Omata, H., Gehlbach, P., Brough, D. E., Wei, L. L. & Yoneya, S., Sep 18 2014, In : PLoS One. 9, 9, A1358.

Research output: Contribution to journalArticle

serotypes
eyes
luciferase
Luciferases
Fibers

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

He, X., Gehlbach, P., Handa, J., Taylor, R. H. & Iordachita, I., Nov 2 2014, 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014. Institute of Electrical and Electronics Engineers Inc., p. 6859-6863 5 p. 6945204

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Peeling
Microsurgery
Hand
Tremor
End effectors

Towards robot-assisted vitreoretinal surgery: Force-sensing micro-forceps integrated with a handheld micromanipulator

Gonenc, B., Feldman, E., Gehlbach, P., Handa, J., Taylor, R. H. & Iordachita, I., Sep 22 2014, Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 1399-1404 6 p. 6907035

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Micromanipulators
Peeling
Surgery
Robots
Membranes
2013

A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot

Gonenc, B., Handa, J., Gehlbach, P., Taylor, R. H. & Iordachita, I., 2013, Proceedings - IEEE International Conference on Robotics and Automation. p. 4832-4837 6 p. 6631266

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Peeling
End effectors
Surgery
Robotics
Robots