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

Xingchi He, Marcin Balicki, Peter Gehlbach, James Handa, Russell H Taylor, Iulian Iordachita

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

Abstract

Robotic systems have the potential to assist vitre-oretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force sensing ophthalmic instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function instrument that is capable of measuring mN-level forces at the instrument tip located inside the eye, and also the sclera contact location on the instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multifunction force sensing instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1411-1418
Number of pages8
DOIs
StatePublished - Sep 22 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
CountryChina
CityHong Kong
Period5/31/146/7/14

Fingerprint

Robots
Robotics
Feedback
End effectors
Demonstrations
Calibration
Tissue

ASJC Scopus subject areas

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

Cite this

He, X., Balicki, M., Gehlbach, P., Handa, J., Taylor, R. H., & Iordachita, I. (2014). A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1411-1418). [6907037] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907037

A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery. / He, Xingchi; Balicki, Marcin; Gehlbach, Peter; Handa, James; Taylor, Russell H; Iordachita, Iulian.

Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1411-1418 6907037.

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

He, X, Balicki, M, Gehlbach, P, Handa, J, Taylor, RH & Iordachita, I 2014, A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery. in Proceedings - IEEE International Conference on Robotics and Automation., 6907037, Institute of Electrical and Electronics Engineers Inc., pp. 1411-1418, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 5/31/14. https://doi.org/10.1109/ICRA.2014.6907037
He X, Balicki M, Gehlbach P, Handa J, Taylor RH, Iordachita I. A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1411-1418. 6907037 https://doi.org/10.1109/ICRA.2014.6907037
He, Xingchi ; Balicki, Marcin ; Gehlbach, Peter ; Handa, James ; Taylor, Russell H ; Iordachita, Iulian. / A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery. Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1411-1418
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