Visual guidance of an active handheld microsurgical tool

Brian C. Becker, Sandrine Voros, Robert A. MacLachlan, Gregory Hager, Cameron N. Riviere

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push beyond the current state of practice by integrating imaging and robot-assisted tools. This paper demonstrates control of a handheld tremor reduction micromanipulator with visual servo techniques, aiding the operator by providing three behaviors: "snap-to", motion scaling, and standoff regulation. A stereo camera setup viewing the workspace under high magnification tracks the tip of the micromanipulator and the object being manipulated. Individual behaviors are activated in task-specific situations when the micromanipulator tip is in the vicinity of the target. We show that the snap-to behavior can reach and maintain a position at a target with Root Mean Squared Error (RMSE) of 17.5 ± 0.4 μm between the tip and target. Scaling the operator's motions and preventing unwanted contact with non-target objects also provides a larger margin of safety.

Original languageEnglish (US)
Title of host publicationSurgical Robotics: Systems Applications and Visions
PublisherSpringer US
Pages355-368
Number of pages14
ISBN (Print)9781441911254
DOIs
StatePublished - 2011

Fingerprint

Micromanipulators
End effectors
Robotics
Cameras
Robots
Imaging techniques

Keywords

  • Accuracy
  • Eye surgery
  • Machine vision
  • Medical robotics
  • Micromanipulation
  • Microsurgery
  • Tremor
  • Visual servoing
  • Vitreoretinal surgery

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Becker, B. C., Voros, S., MacLachlan, R. A., Hager, G., & Riviere, C. N. (2011). Visual guidance of an active handheld microsurgical tool. In Surgical Robotics: Systems Applications and Visions (pp. 355-368). Springer US. https://doi.org/10.1007/978-1-4419-1126-1_15

Visual guidance of an active handheld microsurgical tool. / Becker, Brian C.; Voros, Sandrine; MacLachlan, Robert A.; Hager, Gregory; Riviere, Cameron N.

Surgical Robotics: Systems Applications and Visions. Springer US, 2011. p. 355-368.

Research output: Chapter in Book/Report/Conference proceedingChapter

Becker, BC, Voros, S, MacLachlan, RA, Hager, G & Riviere, CN 2011, Visual guidance of an active handheld microsurgical tool. in Surgical Robotics: Systems Applications and Visions. Springer US, pp. 355-368. https://doi.org/10.1007/978-1-4419-1126-1_15
Becker BC, Voros S, MacLachlan RA, Hager G, Riviere CN. Visual guidance of an active handheld microsurgical tool. In Surgical Robotics: Systems Applications and Visions. Springer US. 2011. p. 355-368 https://doi.org/10.1007/978-1-4419-1126-1_15
Becker, Brian C. ; Voros, Sandrine ; MacLachlan, Robert A. ; Hager, Gregory ; Riviere, Cameron N. / Visual guidance of an active handheld microsurgical tool. Surgical Robotics: Systems Applications and Visions. Springer US, 2011. pp. 355-368
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