Development and preliminary data of novel integrated optical micro-force sensing tools for retinal microsurgery

Zhenglong Sun, Marcin Balicki, Jing Kang, J. Handa, T. Russell, I. Iordachita

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

Abstract

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.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages1897-1902
Number of pages6
DOIs
StatePublished - Nov 2 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period5/12/095/17/09

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Sun, Z., Balicki, M., Kang, J., Handa, J., Russell, T., & Iordachita, I. (2009). Development and preliminary data of novel integrated optical micro-force sensing tools for retinal microsurgery. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 1897-1902). [5152836] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152836