Toward robotically assisted membrane peeling with 3-DOF distal force sensing in retinal microsurgery

Xingchi He, Peter Gehlbach, James Handa, Russell Taylor, Iulian Iordachita

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

Abstract

Retinal microsurgery requires steady and precise manipulation of delicate eye tissues in a very small space. Physiological hand tremor and lack of force sensing are among the main technical challenges, limiting surgical performance. We present a system that consists of the cooperatively controlled Steady-Hand Eye Robot and a miniaturized 3-DOF force sensing instrument to address these limitations. While the robot can effectively suppress hand tremor, enable steady and precise tissue manipulation, the force sensing instrument can provide three dimensional force measurements at the tool tip with submillinewton resolution. Auditory sensory substitution is used to give the user real time force information. Evaluation experiments are conducted using artificial and biological membrane peeling phantoms. Experimental results show that the robotic assistance and force-to-audio sensory substitution can effectively control the magnitude of the tool-to-tissue force. The direction profiles of the membrane peeling forces reflect the different delaminating strategies for different membrane phantoms.

Original languageEnglish (US)
Title of host publication2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6859-6863
Number of pages5
ISBN (Electronic)9781424479290
DOIs
StatePublished - Nov 2 2014
Event2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014 - Chicago, United States
Duration: Aug 26 2014Aug 30 2014

Publication series

Name2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014

Other

Other2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
CountryUnited States
CityChicago
Period8/26/148/30/14

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ASJC Scopus subject areas

  • Health Informatics
  • Computer Science Applications
  • Biomedical Engineering
  • Medicine(all)

Cite this

He, X., Gehlbach, P., Handa, J., Taylor, R., & Iordachita, I. (2014). Toward robotically assisted membrane peeling with 3-DOF distal force sensing in retinal microsurgery. In 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014 (pp. 6859-6863). [6945204] (2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2014.6945204