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 publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
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

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

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

ASJC Scopus subject areas

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

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