Design of 3-DOF force sensing micro-forceps for robot assisted vitreoretinal surgery

Berk Gonenc, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

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

Abstract

Vitreoretinal surgery is associated with serious complications that can easily stem from excessive tissue manipulation forces while the forces required for such surgery are routinely well below human tactile sensation. Despite the critical need in this area, there is still no practical vitreoretinal instrument that can sense both the axial and transverse tool-to-tissue interaction forces with sub-mN accuracy. In this study, we present the conceptual design and optimization of a 3 degrees-of-freedom (DOF) force sensing micro-forceps as the next generation of our force sensing instruments. 4 fiber Bragg grating (FBG) strain sensors are integrated in the design to measure tool tip forces.

Original languageEnglish (US)
Title of host publication2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Pages5686-5689
Number of pages4
DOIs
StatePublished - Oct 31 2013
Event2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka, Japan
Duration: Jul 3 2013Jul 7 2013

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)1557-170X

Other

Other2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
CountryJapan
CityOsaka
Period7/3/137/7/13

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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  • Cite this

    Gonenc, B., Handa, J., Gehlbach, P., Taylor, R. H., & Iordachita, I. (2013). Design of 3-DOF force sensing micro-forceps for robot assisted vitreoretinal surgery. In 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 (pp. 5686-5689). [6610841] (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). https://doi.org/10.1109/EMBC.2013.6610841