TY - GEN
T1 - Safe tissue manipulation in retinal microsurgery via motorized instruments with force sensing
AU - Gonenc, Berk
AU - Gehlbach, Peter
AU - Taylor, Russell H.
AU - Iordachita, Iulian
N1 - Funding Information:
Research supported in part by the National Institutes of Health under R01 EB000526 and 1R01EB023943-01, in part by Research to Prevent Blindness, and gifts by J. Willard and Alice S. Marriott Foundation, the Gale Trust, Mr. Herb Ehlers, Mr. Bill Wilbur, Mr.&Mrs. Rajandre Shaw, Ms. Helen Nassif and Mr. Ronald Stiff.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/21
Y1 - 2017/12/21
N2 - Retinal microsurgery involves careful manipulation of delicate tissues by applying very small amount of forces most of which lie below the tactile sensory threshold of the surgeons. Membrane peeling is a common task in this domain, where application of excessive peeling forces can easily lead to serious complications, hence needs to be avoided. To quantify tool-tissue interaction forces during retinal microsurgery, various force-sensing tools were developed based on fiber Bragg grating sensors, yet the most beneficial way of using the acquired force information is currently unknown. In this study, using a motorized force-sensing micro-forceps tool, we develop an assistive method that enhances safety during membrane peeling by automatically opening the forceps and releasing the tissue based on the detected peeling forces. Through peeling experiments using bandages, we demonstrate that our method can effectively maintain the peeling force at a safe level even in case of non-homogeneous adhesion properties of the membrane.
AB - Retinal microsurgery involves careful manipulation of delicate tissues by applying very small amount of forces most of which lie below the tactile sensory threshold of the surgeons. Membrane peeling is a common task in this domain, where application of excessive peeling forces can easily lead to serious complications, hence needs to be avoided. To quantify tool-tissue interaction forces during retinal microsurgery, various force-sensing tools were developed based on fiber Bragg grating sensors, yet the most beneficial way of using the acquired force information is currently unknown. In this study, using a motorized force-sensing micro-forceps tool, we develop an assistive method that enhances safety during membrane peeling by automatically opening the forceps and releasing the tissue based on the detected peeling forces. Through peeling experiments using bandages, we demonstrate that our method can effectively maintain the peeling force at a safe level even in case of non-homogeneous adhesion properties of the membrane.
KW - fiber Bragg grating
KW - force sensing
KW - micro-forceps
UR - http://www.scopus.com/inward/record.url?scp=85044319543&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85044319543&partnerID=8YFLogxK
U2 - 10.1109/ICSENS.2017.8234070
DO - 10.1109/ICSENS.2017.8234070
M3 - Conference contribution
AN - SCOPUS:85044319543
T3 - Proceedings of IEEE Sensors
SP - 1
EP - 3
BT - IEEE SENSORS 2017 - Conference Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE SENSORS Conference, ICSENS 2017
Y2 - 30 October 2017 through 1 November 2017
ER -