TY - GEN
T1 - Towards Bimanual Robot-Assisted Retinal Surgery
T2 - 17th IEEE SENSORS Conference, SENSORS 2018
AU - He, Changyan
AU - Roizenblatt, Marina
AU - Patel, Niravkumar
AU - Ebrahimi, Ali
AU - Yang, Yang
AU - Gehlbach, Peter L.
AU - Lordachita, Lulian
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by U.S. National Institutes of Health under grant 1R01EB023943-01 and 2R01EB000526-01. The work of C. He was supported in part by the China Scholarship Council under grant 201706020074. 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, Mr. Ronald Stiff, Donald and Maggie Feiner.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/26
Y1 - 2018/12/26
N2 - The performance of retinal microsurgery often requires the coordinated use of both hands. During bimanual retinal surgery, dominant hand performance may be negatively impacted by poor non-dominant hand assistance. Therefore understanding bimanual latent determinants, and establishing safety criteria for bimanual manipulation is relevant to robotic development and to eventual patient care. In this paper, we present a preliminary study to quantitatively evaluate one aspect of bimanual tool use in retinal surgery. Two force sensing tools were designed and fabricated using fiber Bragg grating sensors. Tool-to-sclera contact force is measured using the developed tools and analyzed. The tool forces were recorded during five basic surgical maneuvers typical of retinal surgery. Two subjects are involved in experiments, including one clinician and one engineer. For comparison, all manipulations were replicated under robot-assisted conditions. The results indicate that the average tool-to-sclera force recorded from the dominant hand tool is significantly higher than that from the non-dominant hand tool (\pmb p=0.004). Moreover, the average forces under robot-assisted conditions with the present steady hand robot is notably higher than freehand conditions (\pmb p=0.01). The forces obtained from the dominant and not-dominant hand instruments indicate a weak correlation.
AB - The performance of retinal microsurgery often requires the coordinated use of both hands. During bimanual retinal surgery, dominant hand performance may be negatively impacted by poor non-dominant hand assistance. Therefore understanding bimanual latent determinants, and establishing safety criteria for bimanual manipulation is relevant to robotic development and to eventual patient care. In this paper, we present a preliminary study to quantitatively evaluate one aspect of bimanual tool use in retinal surgery. Two force sensing tools were designed and fabricated using fiber Bragg grating sensors. Tool-to-sclera contact force is measured using the developed tools and analyzed. The tool forces were recorded during five basic surgical maneuvers typical of retinal surgery. Two subjects are involved in experiments, including one clinician and one engineer. For comparison, all manipulations were replicated under robot-assisted conditions. The results indicate that the average tool-to-sclera force recorded from the dominant hand tool is significantly higher than that from the non-dominant hand tool (\pmb p=0.004). Moreover, the average forces under robot-assisted conditions with the present steady hand robot is notably higher than freehand conditions (\pmb p=0.01). The forces obtained from the dominant and not-dominant hand instruments indicate a weak correlation.
KW - bimanual manipulation
KW - robot-assisted retinal surgery
KW - tool-to-sclera force
UR - http://www.scopus.com/inward/record.url?scp=85060863343&partnerID=8YFLogxK
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U2 - 10.1109/ICSENS.2018.8589810
DO - 10.1109/ICSENS.2018.8589810
M3 - Conference contribution
C2 - 31379983
AN - SCOPUS:85060863343
T3 - Proceedings of IEEE Sensors
BT - 2018 IEEE SENSORS, SENSORS 2018 - Conference Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 28 October 2018 through 31 October 2018
ER -