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 proceedingChapter

Abstract

Vitreoretinal surgeons use 0.5 mm 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 : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
Pages303-310
Number of pages8
Volume13
EditionPt 3
StatePublished - 2010

Fingerprint

Vitreoretinal Surgery
Retinal Hemorrhage
Sensory Feedback
Retinal Perforations
Membranes
Microsurgery
Robotics
Advisory Committees
Retina
Research
Surgeons

ASJC Scopus subject areas

  • Medicine(all)

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 : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention (Pt 3 ed., Vol. 13, pp. 303-310)

Micro-force sensing in robot assisted membrane peeling for vitreoretinal surgery. / Balicki, Marcin; Uneri, Ali; Iordachita, Iulian; Handa, James; Gehlbach, Peter; Taylor, Russell.

Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Vol. 13 Pt 3. ed. 2010. p. 303-310.

Research output: Chapter in Book/Report/Conference proceedingChapter

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 : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Pt 3 edn, vol. 13, pp. 303-310.
Balicki M, Uneri A, Iordachita I, Handa J, Gehlbach P, Taylor R. Micro-force sensing in robot assisted membrane peeling for vitreoretinal surgery. In Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Pt 3 ed. Vol. 13. 2010. p. 303-310
Balicki, Marcin ; Uneri, Ali ; Iordachita, Iulian ; Handa, James ; Gehlbach, Peter ; Taylor, Russell. / Micro-force sensing in robot assisted membrane peeling for vitreoretinal surgery. Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Vol. 13 Pt 3. ed. 2010. pp. 303-310
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