TY - GEN
T1 - Development and application of a new steady-hand manipulator for retinal surgery
AU - Mitchell, Ben
AU - Koo, John
AU - Iordachita, Iulian
AU - Kazanzides, Peter
AU - Kapoor, Ankur
AU - Handa, James
AU - Hager, Gregory
AU - Taylor, Russell
PY - 2007
Y1 - 2007
N2 - This paper describes the development and initial testing of a new and optimized version of a steady-hand manipulator for retinal microsurgery. In the steady-hand paradigm, the surgeon and the robot share control of a tool attached to the robot through a force sensor. The robot controller 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 steady-hand manipulator reported here has been specifically designed with the unique constraints of retinal microsurgery in mind. In particular, the system makes use of a compact wrist design that places the bulk of the robot away from the operating field. The resulting system has high efficacy, flexibility and ergonomics while meeting the accuracy and safety requirements of microsurgery. We have now tested this robot on a biological model system and we report a protocol for reliably cannulating ∼80 μm OD veins (the size of veins in the human retina) using the system.
AB - This paper describes the development and initial testing of a new and optimized version of a steady-hand manipulator for retinal microsurgery. In the steady-hand paradigm, the surgeon and the robot share control of a tool attached to the robot through a force sensor. The robot controller 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 steady-hand manipulator reported here has been specifically designed with the unique constraints of retinal microsurgery in mind. In particular, the system makes use of a compact wrist design that places the bulk of the robot away from the operating field. The resulting system has high efficacy, flexibility and ergonomics while meeting the accuracy and safety requirements of microsurgery. We have now tested this robot on a biological model system and we report a protocol for reliably cannulating ∼80 μm OD veins (the size of veins in the human retina) using the system.
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U2 - 10.1109/ROBOT.2007.363056
DO - 10.1109/ROBOT.2007.363056
M3 - Conference contribution
AN - SCOPUS:36349036047
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 623
EP - 629
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -