New steady-hand eye robot with micro-force sensing for vitreoretinal surgery

Ali Üneri, Marcin A. Balicki, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

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

Abstract

In retinal microsurgery, surgeons are required to perform micron scale maneuvers while safely applying forces to the retinal tissue that are below sensory perception. Real-time characterization and precise manipulation of this delicate tissue has thus far been hindered by human limits on tool control and the lack of a surgically compatible endpoint sensing instrument. Here we present the design of a new generation, cooperatively controlled microsurgery robot with a remote center-of-motion (RCM) mechanism and an integrated custom micro-force sensing surgical hook. Utilizing the forces measured by the end effector, we correct for tool deflections and implement a micro-force guided cooperative control algorithm to actively guide the operator. Preliminary experiments have been carried out to test our new control methods on raw chicken egg inner shell membranes and to capture useful dynamic characteristics associated with delicate tissue manipulations.

Original languageEnglish (US)
Title of host publication2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages814-819
Number of pages6
DOIs
StatePublished - Dec 28 2010
Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan
Duration: Sep 26 2010Sep 29 2010

Publication series

Name2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Other

Other2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
CountryJapan
CityTokyo
Period9/26/109/29/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering

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  • Cite this

    Üneri, A., Balicki, M. A., Handa, J., Gehlbach, P., Taylor, R. H., & Iordachita, I. (2010). New steady-hand eye robot with micro-force sensing for vitreoretinal surgery. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 814-819). [5625991] (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010). https://doi.org/10.1109/BIOROB.2010.5625991