TY - GEN
T1 - Toward robotically assisted membrane peeling with 3-DOF distal force sensing in retinal microsurgery
AU - He, Xingchi
AU - Gehlbach, Peter
AU - Handa, James
AU - Taylor, Russell
AU - Iordachita, Iulian
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/11/2
Y1 - 2014/11/2
N2 - 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.
AB - 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.
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U2 - 10.1109/EMBC.2014.6945204
DO - 10.1109/EMBC.2014.6945204
M3 - Conference contribution
C2 - 25571572
AN - SCOPUS:84929484378
T3 - 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
SP - 6859
EP - 6863
BT - 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014
Y2 - 26 August 2014 through 30 August 2014
ER -