TY - GEN
T1 - Toward Improving Patient Safety and Surgeon Comfort in a Synergic Robot-Assisted Eye Surgery
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
AU - Ebrahimi, Ali
AU - Alambeigi, Farshid
AU - Zimmer Galler, Ingrid E
AU - Gehlbach, Peter
AU - Taylor, Russell H.
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 - 2019/11
Y1 - 2019/11
N2 - When robotic assistance is present into vitreoretinal surgery, the surgeon will experience reduced sensory input that is otherwise derived from the tool's interaction with the eye wall (sclera). We speculate that disconnecting the surgeon from this sensory input may increase the risk of injury to the eye and affect the surgeon's usual technique. On the other hand, robot autonomous motion to enhance patient safety might inhibit the surgeons tool manipulation and diminish surgeon comfort with the procedure. In this study, to investigate the parameters of patient safety and surgeon comfort in a robot-assisted eye surgery, we implemented three different approaches designed to keep the scleral force in a safe range during a synergic eye manipulation task. To assess the surgeon comfort during these procedures, the amount of interference with the surgeons usual maneuvers has been analyzed by defining quantitative comfort metrics. The first two utilized scleral force control approaches are based on an adaptive force control method in which the robot actively counteracts any excessive force on the sclera. The third control method is based on a virtual fixture approach in which a virtual wall is created for the surgeon in the unsafe directions of manipulation. The performance of the utilized approaches was evaluated in user studies with two experienced retinal surgeons and the outcomes of the procedure were assessed using the defined safety and comfort metrics. Results of these analyses indicate the significance of the opted control paradigm on the outcome of a safe and comfortable robot-assisted eye surgery.
AB - When robotic assistance is present into vitreoretinal surgery, the surgeon will experience reduced sensory input that is otherwise derived from the tool's interaction with the eye wall (sclera). We speculate that disconnecting the surgeon from this sensory input may increase the risk of injury to the eye and affect the surgeon's usual technique. On the other hand, robot autonomous motion to enhance patient safety might inhibit the surgeons tool manipulation and diminish surgeon comfort with the procedure. In this study, to investigate the parameters of patient safety and surgeon comfort in a robot-assisted eye surgery, we implemented three different approaches designed to keep the scleral force in a safe range during a synergic eye manipulation task. To assess the surgeon comfort during these procedures, the amount of interference with the surgeons usual maneuvers has been analyzed by defining quantitative comfort metrics. The first two utilized scleral force control approaches are based on an adaptive force control method in which the robot actively counteracts any excessive force on the sclera. The third control method is based on a virtual fixture approach in which a virtual wall is created for the surgeon in the unsafe directions of manipulation. The performance of the utilized approaches was evaluated in user studies with two experienced retinal surgeons and the outcomes of the procedure were assessed using the defined safety and comfort metrics. Results of these analyses indicate the significance of the opted control paradigm on the outcome of a safe and comfortable robot-assisted eye surgery.
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U2 - 10.1109/IROS40897.2019.8967806
DO - 10.1109/IROS40897.2019.8967806
M3 - Conference contribution
C2 - 32477614
AN - SCOPUS:85081162648
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 7075
EP - 7082
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 3 November 2019 through 8 November 2019
ER -