Towards robot-assisted vitreoretinal surgery: Force-sensing micro-forceps integrated with a handheld micromanipulator

Berk Gonenc, Ellen Feldman, P. Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita

Research output: Contribution to journalConference articlepeer-review

Abstract

In vitreoretinal practice, controlled tremor-free motion and limitation of applied forces to the retina are two highly desired features. This study addresses both requirements with a new integrated system: A force-sensing motorized micro-forceps combined with an active tremor-canceling handheld micromanipulator, known as Micron. The micro-forceps is a 20 Ga instrument that is mechanically decoupled from its handle and senses the transverse forces at its tip with an accuracy of 0.3 mN. Membrane peeling trials on a bandage phantom revealed a 60-95% reduction in the 2-20 Hz band in both the tip force and position spectra, while peeling forces remained below the set safety threshold.

Original languageEnglish (US)
Article number6907035
Pages (from-to)1399-1404
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
StatePublished - Sep 22 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Towards robot-assisted vitreoretinal surgery: Force-sensing micro-forceps integrated with a handheld micromanipulator'. Together they form a unique fingerprint.

Cite this