A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery

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

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

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages213-218
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

He, X., Balicki, M., Gehlbach, P., Handa, J., Taylor, R. H., & Iordachita, I. (2013). A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 213-218). [6630578] https://doi.org/10.1109/ICRA.2013.6630578