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

doi:10.1109/ICRA.2014.6907035

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 journal › Conference article › peer-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 language	English (US)
Article number	6907035
Pages (from-to)	1399-1404
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
DOIs	https://doi.org/10.1109/ICRA.2014.6907035
State	Published - Sep 22 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: May 31 2014 → Jun 7 2014

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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Towards robot-assisted vitreoretinal surgery : Force-sensing micro-forceps integrated with a handheld micromanipulator. / Gonenc, Berk; Feldman, Ellen; Gehlbach, P.; Handa, James ; Taylor, Russell H.; Iordachita, Iulian.

In: Proceedings - IEEE International Conference on Robotics and Automation, 22.09.2014, p. 1399-1404.

Research output: Contribution to journal › Conference article › peer-review

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AU - Taylor, Russell H.

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