Cooperative robot assistant for retinal microsurgery

Ioana Fleming; Marcin Balicki; John Koo; Iulian Iordachita; Ben Mitchell; James Handa; Gregory Hager; Russell Taylor

doi:10.1007/978-3-540-85990-1_65

Cooperative robot assistant for retinal microsurgery

Ioana Fleming, Marcin Balicki, John Koo, Iulian Iordachita, Ben Mitchell, James Handa, Gregory Hager, Russell Taylor

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

50 Scopus citations

Abstract

This paper describes the development and results of initial testing of a cooperative robot assistant for retinal microsurgery. In the cooperative control paradigm, the surgeon and the robot share control of a tool attached to the robot through a force sensor. The system senses forces exerted by the operator on the tool and uses this information in various control modes to provide smooth, tremor-free, precise positional control and force scaling. The robot manipulator is specifically designed with retinal microsurgery in mind, having high efficacy, flexibility and ergonomics while meeting the accuracy and safety requirements of microsurgery. We have tested this robot on a biological model and we report the results for reliably cannulating ∼80 μm diameter veins (equivalent in size to human retinal veins). We also describe improvements to the robot and the experimental setup facilitating more advanced set of experiments.

Original language	English (US)
Title of host publication	Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008 - 11th International Conference, Proceedings
Publisher	Springer Verlag
Pages	543-550
Number of pages	8
Edition	PART 2
ISBN (Print)	3540859896, 9783540859895
DOIs	https://doi.org/10.1007/978-3-540-85990-1_65
State	Published - 2008
Event	11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008 - New York, NY, United States Duration: Sep 6 2008 → Sep 10 2008

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 2
Volume	5242 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008
Country/Territory	United States
City	New York, NY
Period	9/6/08 → 9/10/08

Keywords

Cooperative robot control
Retinal microsurgery
Vein cannulation

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-540-85990-1_65

Cite this

Fleming, I., Balicki, M., Koo, J., Iordachita, I., Mitchell, B., Handa, J., Hager, G., & Taylor, R. (2008). Cooperative robot assistant for retinal microsurgery. In Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008 - 11th International Conference, Proceedings (PART 2 ed., pp. 543-550). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5242 LNCS, No. PART 2). Springer Verlag. https://doi.org/10.1007/978-3-540-85990-1_65

Cooperative robot assistant for retinal microsurgery. / Fleming, Ioana; Balicki, Marcin; Koo, John et al.
Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008 - 11th International Conference, Proceedings. PART 2. ed. Springer Verlag, 2008. p. 543-550 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5242 LNCS, No. PART 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Fleming, I, Balicki, M, Koo, J, Iordachita, I, Mitchell, B, Handa, J , Hager, G & Taylor, R 2008, Cooperative robot assistant for retinal microsurgery. in Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008 - 11th International Conference, Proceedings. PART 2 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 5242 LNCS, Springer Verlag, pp. 543-550, 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008, New York, NY, United States, 9/6/08. https://doi.org/10.1007/978-3-540-85990-1_65

Fleming I, Balicki M, Koo J, Iordachita I, Mitchell B, Handa J et al. Cooperative robot assistant for retinal microsurgery. In Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008 - 11th International Conference, Proceedings. PART 2 ed. Springer Verlag. 2008. p. 543-550. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). doi: 10.1007/978-3-540-85990-1_65

Fleming, Ioana ; Balicki, Marcin ; Koo, John et al. / Cooperative robot assistant for retinal microsurgery. Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008 - 11th International Conference, Proceedings. PART 2. ed. Springer Verlag, 2008. pp. 543-550 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).

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Cooperative robot assistant for retinal microsurgery

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Keywords

ASJC Scopus subject areas

Access to Document

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