TY - GEN
T1 - A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery
AU - He, Xingchi
AU - Balicki, Marcin
AU - Gehlbach, Peter
AU - Handa, James
AU - Taylor, Russell
AU - Iordachita, Iulian
PY - 2013
Y1 - 2013
N2 - Robotic assistants and smart surgical instruments have been developed to overcome many significant physiological limitations faced by vitreoretinal surgeons, one of which is lack of force perception below 7.5 mN. This paper reports the development of a new force sensor based on fiber Bragg grating (FBG) with the ability not just to sense forces at the tip of the surgical instrument located inside the eye, but also to provide information about the interaction force between the instrument shaft and the sclera. The sclera section provides vital feedback for cooperative robot control to minimize potentially dangerous forces on the eye. Preliminary results with 2×2 degrees-of-freedom (DOF) force sensor and force scaling robot control demonstrate significant reduction of forces on the sclera. The design and analysis of the sensor is presented along with a simulated robot assisted retinal membrane peeling on a phantom with sclera constraints and audio feedback.
AB - Robotic assistants and smart surgical instruments have been developed to overcome many significant physiological limitations faced by vitreoretinal surgeons, one of which is lack of force perception below 7.5 mN. This paper reports the development of a new force sensor based on fiber Bragg grating (FBG) with the ability not just to sense forces at the tip of the surgical instrument located inside the eye, but also to provide information about the interaction force between the instrument shaft and the sclera. The sclera section provides vital feedback for cooperative robot control to minimize potentially dangerous forces on the eye. Preliminary results with 2×2 degrees-of-freedom (DOF) force sensor and force scaling robot control demonstrate significant reduction of forces on the sclera. The design and analysis of the sensor is presented along with a simulated robot assisted retinal membrane peeling on a phantom with sclera constraints and audio feedback.
UR - http://www.scopus.com/inward/record.url?scp=84887312691&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2013.6630578
DO - 10.1109/ICRA.2013.6630578
M3 - Conference contribution
C2 - 24795831
AN - SCOPUS:84887312691
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 213
EP - 218
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -