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

Area of Science:

• Biomedical Engineering
• Robotics
• Ophthalmology

Background:

• Micron-scale maneuvers in retinal microsurgery demand forces below human sensory perception.
• Current limitations in tool control and lack of endpoint sensing hinder precise manipulation of delicate retinal tissue.

Purpose of the Study:

• To design a novel, cooperatively controlled microsurgery robot with a remote center-of-motion (RCM) mechanism.
• To integrate a custom micro-force sensing surgical hook for real-time feedback.
• To develop a micro-force guided cooperative control algorithm for enhanced surgical guidance.

Main Methods:

• Development of a cooperatively controlled microsurgery robot featuring an RCM mechanism.
• Integration of a custom micro-force sensing surgical hook as the end effector.
• Implementation of a micro-force guided cooperative control algorithm utilizing real-time force measurements.
• Preliminary experiments conducted on raw chicken egg inner shell membranes for validation.

Main Results:

• The system demonstrated the ability to correct for tool deflections using measured end-effector forces.
• The micro-force guided cooperative control algorithm actively guided the operator during simulated manipulations.
• Dynamic characteristics of delicate tissue manipulations were captured during preliminary experiments.

Conclusions:

• The developed microsurgery robot with integrated force sensing offers a new generation of tool for delicate tissue manipulation.
• The cooperative control algorithm enhances surgical precision by actively guiding the operator based on micro-force feedback.
• This technology has the potential to overcome human limitations in microsurgery, leading to improved patient outcomes.