TY - GEN
T1 - Sclera Force Control in Robot-assisted Eye Surgery
T2 - 2019 International Symposium on Medical Robotics, ISMR 2019
AU - Ebrahimi, Ali
AU - He, Changyan
AU - Patel, Niravkumar
AU - Kobilarov, Marin
AU - Gehlbach, Peter
AU - Iordachita, Iulian
N1 - Funding Information:
*This work was supported by U.S. National Institute of Health under grant number of 1R01EB023943-01 and Research to Prevent Blindness, New York, New York, USA, and gifts by the J. Willard and Alice S. Marriott Foundation, the Gale Trust, Mr. Herb Ehlers, Mr. Bill Wilbur, Mr. and Mrs. Rajandre Shaw, Ms. Helen Nassif, Ms. Mary Ellen Keck, and Mr. Ronald Stiff.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/8
Y1 - 2019/5/8
N2 - Surgeon hand tremor limits human capability during microsurgical procedures such as those that treat the eye. In contrast, elimination of hand tremor through the introduction of microsurgical robots diminishes the surgeons tactile perception of useful and familiar tool-to-sclera forces. While the large mass and inertia of eye surgical robot prevents surgeon microtremor, loss of perception of small scleral forces may put the sclera at risk of injury. In this paper, we have applied and compared two different methods to assure the safety of sclera tissue during robot-assisted eye surgery. In the active control method, an adaptive force control strategy is implemented on the Steady-Hand Eye Robot in order to control the magnitude of scleral forces when they exceed safe boundaries. This autonomous force compensation is then compared to a passive force control method in which the surgeon performs manual adjustments in response to the provided audio feedback proportional to the magnitude of sclera force. A pilot study with three users indicate that the active control method is potentially more efficient.
AB - Surgeon hand tremor limits human capability during microsurgical procedures such as those that treat the eye. In contrast, elimination of hand tremor through the introduction of microsurgical robots diminishes the surgeons tactile perception of useful and familiar tool-to-sclera forces. While the large mass and inertia of eye surgical robot prevents surgeon microtremor, loss of perception of small scleral forces may put the sclera at risk of injury. In this paper, we have applied and compared two different methods to assure the safety of sclera tissue during robot-assisted eye surgery. In the active control method, an adaptive force control strategy is implemented on the Steady-Hand Eye Robot in order to control the magnitude of scleral forces when they exceed safe boundaries. This autonomous force compensation is then compared to a passive force control method in which the surgeon performs manual adjustments in response to the provided audio feedback proportional to the magnitude of sclera force. A pilot study with three users indicate that the active control method is potentially more efficient.
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U2 - 10.1109/ISMR.2019.8710205
DO - 10.1109/ISMR.2019.8710205
M3 - Conference contribution
C2 - 32368760
AN - SCOPUS:85066320761
T3 - 2019 International Symposium on Medical Robotics, ISMR 2019
BT - 2019 International Symposium on Medical Robotics, ISMR 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 3 April 2019 through 5 April 2019
ER -