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

Berk Gonenc, James Handa, Peter Gehlbach, Russell H Taylor, Iulian Iordachita

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

Abstract

In vitreoretinal surgery, application of excessive forces and unintentional motion due to hand-tremor can easily result in serious complications. Robotic assistance when combined with tool-to-tissue force sensing capabilities has significant potential to improve such practice. In this paper, we evaluate the membrane peeling performance of a single user for two distinct robotic systems with integrated force sensing capabilities: Micron and the Steady-Hand Robot. We show that these systems provide promising performance improvement with similar impact on peeling forces and comparable tremor cancellation trends.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages4832-4837
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Gonenc, B., Handa, J., Gehlbach, P., Taylor, R. H., & Iordachita, I. (2013). A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 4832-4837). [6631266] https://doi.org/10.1109/ICRA.2013.6631266