Real-Time Sclera Force Feedback for Enabling Safe Robot-Assisted Vitreoretinal Surgery

Ali Ebrahimi, Changyan He, Marina Roizenblatt, Niravkumar Patel, Shahriar Sefati, Peter Gehlbach, Iulian Iordachita

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

Abstract

One of the major yet little recognized challenges in robotic vitreoretinal surgery is the matter of tool forces applied to the sclera. Tissue safety, coordinated tool use and interactions between tool tip and shaft forces are little studied. The introduction of robotic assist has further diminished the surgeon's ability to perceive scleral forces. Microsurgical tools capable of measuring such small forces integrated with robotmanipulators may therefore improve functionality and safety by providing sclera force feedback to the surgeon. In this paper, using a force-sensing tool, we have conducted robotassisted eye manipulation experiments to evaluate the utility of providing scleral force feedback. The work assesses 1) passive audio feedback and 2) active haptic feedback and evaluates the impact of these feedbacks on scleral forces in excess of aboundary. The results show that in presence of passive or active feedback, the duration of experiment increases, while the duration for which scleral forces exceed a safe threshold decreases.

Original languageEnglish (US)
Title of host publication40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3650-3655
Number of pages6
ISBN (Electronic)9781538636466
DOIs
StatePublished - Oct 26 2018
Externally publishedYes
Event40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018 - Honolulu, United States
Duration: Jul 18 2018Jul 21 2018

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume2018-July
ISSN (Print)1557-170X

Other

Other40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
Country/TerritoryUnited States
CityHonolulu
Period7/18/187/21/18

ASJC Scopus subject areas

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

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