Toward clinically applicable steady-hand eye robot for vitreoretinal surgery

Xingchi He, Daniel Roppenecker, Dominikus Gierlach, Marcin Balicki, Kevin Olds, Peter Gehlbach, James Handa, Russell H Taylor, Iulian Iordachita

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

Abstract

This paper reports new developments and optimizations for clinical use of the Steady-Hand Eye Robot for vitreoretinal surgery. Vitreoretinal surgery requires precise micromanipulation of delicate tissues. Surgical performance is limited by physiological hand tremor, fatigue, poor kinesthetic feedback, as well as patient movement. The previously developed Steady- Hand Eye Robot has been extensively used in in vivo experiments. Several safety and ergonomic limitations observed in the in vivo environment serve as motivation for a novel robot wrist design. The new robot wrist consists of a symmetric remote center of motion (RCM) tilt mechanism and a slim tool holder with a quick release mechanism for the surgical instruments. The RCM tilt mechanism provides a tilt motion range of ±45° and a stiffness of 21 N/mm. Two different release force thresholds for the quick release mechanism were designed. The soft configuration requires 2-3 N to retract the surgical instruments while the hard configuration requires 5-6 N.

Original languageEnglish (US)
Title of host publicationASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Pages145-153
Number of pages9
Volume2
DOIs
StatePublished - 2012
EventASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012 - Houston, TX, United States
Duration: Nov 9 2012Nov 15 2012

Other

OtherASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012
CountryUnited States
CityHouston, TX
Period11/9/1211/15/12

Fingerprint

End effectors
Surgery
Robots
Ergonomics
Stiffness
Fatigue of materials
Tissue
Feedback
Experiments

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

He, X., Roppenecker, D., Gierlach, D., Balicki, M., Olds, K., Gehlbach, P., ... Iordachita, I. (2012). Toward clinically applicable steady-hand eye robot for vitreoretinal surgery. In ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE) (Vol. 2, pp. 145-153) https://doi.org/10.1115/IMECE2012-88384

Toward clinically applicable steady-hand eye robot for vitreoretinal surgery. / He, Xingchi; Roppenecker, Daniel; Gierlach, Dominikus; Balicki, Marcin; Olds, Kevin; Gehlbach, Peter; Handa, James; Taylor, Russell H; Iordachita, Iulian.

ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE). Vol. 2 2012. p. 145-153.

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

He, X, Roppenecker, D, Gierlach, D, Balicki, M, Olds, K, Gehlbach, P, Handa, J, Taylor, RH & Iordachita, I 2012, Toward clinically applicable steady-hand eye robot for vitreoretinal surgery. in ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE). vol. 2, pp. 145-153, ASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012, Houston, TX, United States, 11/9/12. https://doi.org/10.1115/IMECE2012-88384
He X, Roppenecker D, Gierlach D, Balicki M, Olds K, Gehlbach P et al. Toward clinically applicable steady-hand eye robot for vitreoretinal surgery. In ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE). Vol. 2. 2012. p. 145-153 https://doi.org/10.1115/IMECE2012-88384
He, Xingchi ; Roppenecker, Daniel ; Gierlach, Dominikus ; Balicki, Marcin ; Olds, Kevin ; Gehlbach, Peter ; Handa, James ; Taylor, Russell H ; Iordachita, Iulian. / Toward clinically applicable steady-hand eye robot for vitreoretinal surgery. ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE). Vol. 2 2012. pp. 145-153
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