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. 2010 Sep 1;2010(26-29):814-819.
doi: 10.1109/BIOROB.2010.5625991.

New Steady-Hand Eye Robot with Micro-Force Sensing for Vitreoretinal Surgery

Ali Uneri, Marcin A Balicki, James Handa, Peter Gehlbach, Russell H Taylor, Iulian Iordachita

New Steady-Hand Eye Robot with Micro-Force Sensing for Vitreoretinal Surgery

Ali Uneri et al. Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. .

Abstract

In retinal microsurgery, surgeons are required to perform micron scale maneuvers while safely applying forces to the retinal tissue that are below sensory perception. Real-time characterization and precise manipulation of this delicate tissue has thus far been hindered by human limits on tool control and the lack of a surgically compatible endpoint sensing instrument. Here we present the design of a new generation, cooperatively controlled microsurgery robot with a remote center-of-motion (RCM) mechanism and an integrated custom micro-force sensing surgical hook. Utilizing the forces measured by the end effector, we correct for tool deflections and implement a micro-force guided cooperative control algorithm to actively guide the operator. Preliminary experiments have been carried out to test our new control methods on raw chicken egg inner shell membranes and to capture useful dynamic characteristics associated with delicate tissue manipulations.

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Figures

Fig. 1
Fig. 1
Retinal surgery research platform.
Fig. 2
Fig. 2
CAD model of ER2, and close up view of its end effector.
Fig. 3
Fig. 3
Geometry study of tool motion through the sclera.
Fig. 4
Fig. 4
Tilting mechanisms of ER1 (a) and ER2 (b).
Fig. 5
Fig. 5
Tool with FBG force sensors attached, inserted through a sclerotomy opening.
Fig. 6
Fig. 6
Reaction force due to tool deflection for 2 mm travel. Note that the initial robot position is ~0.4 mm from the rigid surface.
Fig. 7
Fig. 7
Figure depicting a peeling process, with associated forces.
Fig. 8
Fig. 8
Setup for peeling experiments using raw eggs.
Fig. 9
Fig. 9
Force profiles for calibration and membrane peeling.
Fig. 10
Fig. 10
Diverging and circular robot trajectory overlays. Note that peeled section is half the distance traversed by the robot.
See this image and copyright information in PMC

References

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