TY - GEN
T1 - Real-Time Sclera Force Feedback for Enabling Safe Robot-Assisted Vitreoretinal Surgery
AU - Ebrahimi, Ali
AU - He, Changyan
AU - Roizenblatt, Marina
AU - Patel, Niravkumar
AU - Sefati, Shahriar
AU - Gehlbach, Peter
AU - Iordachita, Iulian
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/26
Y1 - 2018/10/26
N2 - 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.
AB - 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.
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U2 - 10.1109/EMBC.2018.8513255
DO - 10.1109/EMBC.2018.8513255
M3 - Conference contribution
C2 - 30441165
AN - SCOPUS:85056655163
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 3650
EP - 3655
BT - 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
Y2 - 18 July 2018 through 21 July 2018
ER -