TY - GEN
T1 - Towards Bimanual Vein Cannulation
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
AU - He, Changyan
AU - Ebrahimi, Ali
AU - Yang, Emily
AU - Urias, Muller
AU - Yang, Yang
AU - Gehlbach, Peter
AU - Iordachita, Iulian
N1 - Funding Information:
*This work was supported by U.S. National Institutes of Health under grant number 1R01EB023943-01 and 1R01EB025883-01A1. The work of C. He was supported in part by the China Scholarship Council under Grant 201706020074, the National Natural Science Foundation of China under Grant 51875011, and the National Hi-tech Research and Development Program of China with grant 2017YFB1302702.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - Retinal vein cannulation is a promising approach for treating retinal vein occlusion that involves injecting medicine into the occluded vessel to dissolve the clot. The approach remains largely unexploited clinically due to surgeon limitations in detecting interaction forces between surgical tools and retinal tissue. In this paper, a dual force constraint controller for robot-assisted retinal surgery was presented to keep the tool-to-vessel forces and tool-to-sclera forces below prescribed thresholds. A cannulation tool and forceps with dual force-sensing capability were developed and used to measure force information fed into the robot controller, which was implemented on existing Steady Hand Eye Robot platforms. The robotic system facilitates retinal vein cannulation by allowing a user to grasp the target vessel with the forceps and then enter the vessel with the cannula. The system was evaluated on an eye phantom. The results showed that, while the eyeball was subjected to rotational disturbances, the proposed controller actuates the robotic manipulators to maintain the average tool-to-vessel force at 10.9 mN and 13.1 mN and the average tool-to-sclera force at 38.1 mN and 41.2 mN for the cannula and the forcpes, respectively. Such small tool-to-tissue forces are acceptable to avoid retinal tissue injury. Additionally, two clinicians participated in a preliminary user study of the bimanual cannulation demonstrating that the operation time and tool-to-tissue forces are significantly decreased when using the bimanual robotic system as compared to freehand performance.
AB - Retinal vein cannulation is a promising approach for treating retinal vein occlusion that involves injecting medicine into the occluded vessel to dissolve the clot. The approach remains largely unexploited clinically due to surgeon limitations in detecting interaction forces between surgical tools and retinal tissue. In this paper, a dual force constraint controller for robot-assisted retinal surgery was presented to keep the tool-to-vessel forces and tool-to-sclera forces below prescribed thresholds. A cannulation tool and forceps with dual force-sensing capability were developed and used to measure force information fed into the robot controller, which was implemented on existing Steady Hand Eye Robot platforms. The robotic system facilitates retinal vein cannulation by allowing a user to grasp the target vessel with the forceps and then enter the vessel with the cannula. The system was evaluated on an eye phantom. The results showed that, while the eyeball was subjected to rotational disturbances, the proposed controller actuates the robotic manipulators to maintain the average tool-to-vessel force at 10.9 mN and 13.1 mN and the average tool-to-sclera force at 38.1 mN and 41.2 mN for the cannula and the forcpes, respectively. Such small tool-to-tissue forces are acceptable to avoid retinal tissue injury. Additionally, two clinicians participated in a preliminary user study of the bimanual cannulation demonstrating that the operation time and tool-to-tissue forces are significantly decreased when using the bimanual robotic system as compared to freehand performance.
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U2 - 10.1109/ICRA40945.2020.9196889
DO - 10.1109/ICRA40945.2020.9196889
M3 - Conference contribution
AN - SCOPUS:85092696460
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4441
EP - 4447
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 31 May 2020 through 31 August 2020
ER -