A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery

Iulian Iordachita, Zhenglong Sun, Marcin Balicki, Jin U. Kang, Soo Jay Phee, James Handa, Peter Gehlbach, Russell H Taylor

Research output: Contribution to journalArticle

Abstract

Purpose: Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening. Methods: We present the design and analysisof a force measurement device that senses distal forces interior to the sclera using 1-cm long, 160 μm diameter Fiber Bragg Grating (FBG) strain sensors embedded in a 0.5 mm diameter tool shaft. Additionally, we provide an algorithm developed to cancel the influence of environmental temperature fluctuations. Results: The force-sensing prototype measures forces witha resolution of 0.25 mN in 2 DOF while being insensitive to temperature. Conclusion: Sub-millinewton resolution force sensors integrated into microsurgical instruments are feasible and have potential applications in both robotic and freehand microsurgery.

Original languageEnglish (US)
Pages (from-to)383-390
Number of pages8
JournalInternational journal of computer assisted radiology and surgery
Volume4
Issue number4
DOIs
StatePublished - Jun 2009

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Integrated optics
Microsurgery
Optical resolving power
Fiber optics
Sclera
Temperature
Robotics
Surgical Instruments
Tissue
Equipment and Supplies
Force measurement
Sensors
Fiber Bragg gratings

Keywords

  • Computer-assisted surgery
  • Force sensor
  • Microsurgery
  • Surgical instruments

ASJC Scopus subject areas

  • Radiology Nuclear Medicine and imaging
  • Health Informatics
  • Surgery

Cite this

A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery. / Iordachita, Iulian; Sun, Zhenglong; Balicki, Marcin; Kang, Jin U.; Phee, Soo Jay; Handa, James; Gehlbach, Peter; Taylor, Russell H.

In: International journal of computer assisted radiology and surgery, Vol. 4, No. 4, 06.2009, p. 383-390.

Research output: Contribution to journalArticle

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AU - Iordachita, Iulian

AU - Sun, Zhenglong

AU - Balicki, Marcin

AU - Kang, Jin U.

AU - Phee, Soo Jay

AU - Handa, James

AU - Gehlbach, Peter

AU - Taylor, Russell H

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AB - Purpose: Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening. Methods: We present the design and analysisof a force measurement device that senses distal forces interior to the sclera using 1-cm long, 160 μm diameter Fiber Bragg Grating (FBG) strain sensors embedded in a 0.5 mm diameter tool shaft. Additionally, we provide an algorithm developed to cancel the influence of environmental temperature fluctuations. Results: The force-sensing prototype measures forces witha resolution of 0.25 mN in 2 DOF while being insensitive to temperature. Conclusion: Sub-millinewton resolution force sensors integrated into microsurgical instruments are feasible and have potential applications in both robotic and freehand microsurgery.

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