Safe tissue manipulation in retinal microsurgery via motorized instruments with force sensing

Berk Gonenc, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

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

3 Scopus citations


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.

Original languageEnglish (US)
Title of host publicationIEEE SENSORS 2017 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages3
ISBN (Electronic)9781509010127
StatePublished - Dec 21 2017
Event16th IEEE SENSORS Conference, ICSENS 2017 - Glasgow, United Kingdom
Duration: Oct 30 2017Nov 1 2017

Publication series

NameProceedings of IEEE Sensors
ISSN (Print)1930-0395
ISSN (Electronic)2168-9229


Other16th IEEE SENSORS Conference, ICSENS 2017
Country/TerritoryUnited Kingdom


  • fiber Bragg grating
  • force sensing
  • micro-forceps

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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