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
StatePublished - 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

Fingerprint

Peeling
End effectors
Surgery
Robotics
Robots
Tissue
Membranes

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

A comparative study for robot assisted vitreoretinal surgery : Micron vs. the Steady-Hand Robot. / Gonenc, Berk; Handa, James; Gehlbach, Peter; Taylor, Russell H; Iordachita, Iulian.

Proceedings - IEEE International Conference on Robotics and Automation. 2013. p. 4832-4837 6631266.

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

Gonenc, B, Handa, J, Gehlbach, P, Taylor, RH & 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., 6631266, pp. 4832-4837, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 5/6/13. https://doi.org/10.1109/ICRA.2013.6631266
Gonenc B, Handa J, Gehlbach P, Taylor RH, Iordachita I. A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot. In Proceedings - IEEE International Conference on Robotics and Automation. 2013. p. 4832-4837. 6631266 https://doi.org/10.1109/ICRA.2013.6631266
Gonenc, Berk ; Handa, James ; Gehlbach, Peter ; Taylor, Russell H ; Iordachita, Iulian. / A comparative study for robot assisted vitreoretinal surgery : Micron vs. the Steady-Hand Robot. Proceedings - IEEE International Conference on Robotics and Automation. 2013. pp. 4832-4837
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