Micro-force sensing in robot assisted membrane peeling for vitreoretinal surgery

Marcin Balicki, Ali Uneri, Iulian Iordachita, James Handa, Peter Gehlbach, Russell Taylor

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

Abstract

Vitreoretinal surgeons use 0.5mm diameter instruments to manipulate delicate tissue inside the eye while applying imperceptible forces that can cause damage to the retina. We present a system which robotically regulates user-applied forces to the tissue, to minimize the risk of retinal hemorrhage or tear during membrane peeling, a common task in vitreoretinal surgery. Our research platform is based on a cooperatively controlled microsurgery robot. It integrates a custom micro-force sensing surgical pick, which provides conventional surgical function and real time force information. We report the development of a new phantom, which is used to assess robot control, force feedback methods, and our newly implemented auditory sensory substitution to specifically assist membrane peeling. Our findings show that auditory sensory substitution decreased peeling forces in all tests, and that robotic force scaling with audio feedback is the most promising aid in reducing peeling forces and task completion time.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention, MICCAI2010 - 13th International Conference, Proceedings
Pages303-310
Number of pages8
EditionPART 3
DOIs
StatePublished - Nov 22 2010
Event13th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2010 - Beijing, China
Duration: Sep 20 2010Sep 24 2010

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 3
Volume6363 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other13th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2010
CountryChina
CityBeijing
Period9/20/109/24/10

Keywords

  • Auditory Sensory Substitution
  • Cooperative Robot Control
  • Force Scaling
  • Force Sensing
  • Robotic Microsurgery
  • Vitreoretinal Surgery

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Balicki, M., Uneri, A., Iordachita, I., Handa, J., Gehlbach, P., & Taylor, R. (2010). Micro-force sensing in robot assisted membrane peeling for vitreoretinal surgery. In Medical Image Computing and Computer-Assisted Intervention, MICCAI2010 - 13th International Conference, Proceedings (PART 3 ed., pp. 303-310). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6363 LNCS, No. PART 3). https://doi.org/10.1007/978-3-642-15711-0_38