TY - GEN
T1 - Development and preliminary data of novel integrated optical micro-force sensing tools for retinal microsurgery
AU - Sun, Zhenglong
AU - Balicki, Marcin
AU - Kang, Jing
AU - Handa, J.
AU - Russell, T.
AU - Iordachita, I.
PY - 2009
Y1 - 2009
N2 - This paper reports the development of novel micro-force sensing tools for retinal microsurgery. Retinal microsurgery requires extremely delicate manipulation of retinal tissue, and tool-to-tissue interaction forces are frequently below human perceptual thresholds. Further, the interaction between the tool shaft and sclera makes accurate sensing of forces exerted on the retina very difficult with previously developed force sensing schemes, in which the sensor is located outside the eye. In the work reported here, we incorporate 160 μm Fiber Bragg Grating (FBG) strain sensors into the tool shaft to sense forces distal to the sclera. The sensor is applicable both with robotically manipulated and freehand tools. Preliminary results with a 1 degree-of-freedom (DOF) sensor have demonstrated 0.25 mN resolution, and work is underway to develop 2 and 3 DOF tools. The design and analysis of the force sensing tool is presented with preliminary testing data and some initial experiments using the tool with both freehand and robotic manipulation.
AB - This paper reports the development of novel micro-force sensing tools for retinal microsurgery. Retinal microsurgery requires extremely delicate manipulation of retinal tissue, and tool-to-tissue interaction forces are frequently below human perceptual thresholds. Further, the interaction between the tool shaft and sclera makes accurate sensing of forces exerted on the retina very difficult with previously developed force sensing schemes, in which the sensor is located outside the eye. In the work reported here, we incorporate 160 μm Fiber Bragg Grating (FBG) strain sensors into the tool shaft to sense forces distal to the sclera. The sensor is applicable both with robotically manipulated and freehand tools. Preliminary results with a 1 degree-of-freedom (DOF) sensor have demonstrated 0.25 mN resolution, and work is underway to develop 2 and 3 DOF tools. The design and analysis of the force sensing tool is presented with preliminary testing data and some initial experiments using the tool with both freehand and robotic manipulation.
UR - http://www.scopus.com/inward/record.url?scp=70350383276&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70350383276&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152836
DO - 10.1109/ROBOT.2009.5152836
M3 - Conference contribution
AN - SCOPUS:70350383276
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1897
EP - 1902
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -