Force sensing micro-forceps for robot assisted retinal surgery

Ismail Kuru, Berk Gonenc, Marcin Balicki, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

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

Abstract

Membrane peeling is a standard vitreoretinal procedure, where the surgeon delaminates a very thin membrane from retina surface using surgical picks and forceps. This requires extremely delicate manipulation of the retinal tissue. Applying excessive forces during the surgery can cause serious complications leading to vision loss. For successful membrane peeling, most of the applied forces need to be very small, well below the human tactile sensation threshold. In this paper, we present a robotic system that combines a force sensing forceps tool and a cooperatively-controlled surgical robot. This combination allows us to measure the forces directly at the tool tip and use this information for limiting the applied forces on the retina. This may prevent many iatrogenic injuries and allow safer maneuvers during vitreoretinal procedures. We show that our system can successfully eliminate hand-tremor and excessive forces in membrane peeling experiments on the inner shell membrane of a chicken embryo.

Original languageEnglish (US)
Title of host publication2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012
Pages1401-1404
Number of pages4
DOIs
StatePublished - Dec 14 2012
Event34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2012 - San Diego, CA, United States
Duration: Aug 28 2012Sep 1 2012

Publication series

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

Other

Other34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2012
CountryUnited States
CitySan Diego, CA
Period8/28/129/1/12

ASJC Scopus subject areas

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

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  • Cite this

    Kuru, I., Gonenc, B., Balicki, M., Handa, J., Gehlbach, P., Taylor, R. H., & Iordachita, I. (2012). Force sensing micro-forceps for robot assisted retinal surgery. In 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012 (pp. 1401-1404). [6346201] (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). https://doi.org/10.1109/EMBC.2012.6346201