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Published on: August 2, 2016
Force sensing micro-forceps for robot assisted retinal surgery
Ismail Kuru1, Berk Gonenc, Marcin Balicki
1Institute of Micro Technology and Medical Device Technology (MiMed), Technische Universität München, München, Germany. ismail.kuru@tum.de
Abstract:
Membrane peeling is a standard vitreoretinal procedure, where the surgeon delaminates a very thin membrane from retina surface using surgical picks and forceps. This requires extremely delicate manipulation of the retinal tissue. Applying excessive forces during the surgery can cause serious complications leading to vision loss. For successful membrane peeling, most of the applied forces need to be very small, well below the human tactile sensation threshold. In this paper, we present a robotic system that combines a force sensing forceps tool and a cooperatively-controlled surgical robot. This combination allows us to measure the forces directly at the tool tip and use this information for limiting the applied forces on the retina. This may prevent many iatrogenic injuries and allow safer maneuvers during vitreoretinal procedures. We show that our system can successfully eliminate hand-tremor and excessive forces in membrane peeling experiments on the inner shell membrane of a chicken embryo.
Insights
This study introduces a robotic system with force-sensing forceps for delicate retinal membrane peeling. The system precisely measures and limits forces, preventing surgical injury and vision loss during vitreoretinal procedures.
Area of Science:
- Ophthalmology
- Robotics
- Biomedical Engineering
Background:
- Membrane peeling is crucial in vitreoretinal surgery.
- Delicate retinal manipulation is required, as excessive force can cause vision loss.
- Current methods lack precise force feedback, risking iatrogenic injury.
Purpose of the Study:
- To develop and evaluate a robotic system for precise force control during membrane peeling.
- To enhance safety and reduce complications in vitreoretinal procedures.
Main Methods:
- Integration of a force-sensing forceps with a cooperatively-controlled surgical robot.
- Real-time measurement of forces at the tool tip.
- Experimental validation using chicken embryo membranes.
Main Results:
- The system successfully measured forces at the forceps tip.
- It effectively eliminated hand-tremor and limited excessive forces during simulated membrane peeling.
- Demonstrated potential for preventing iatrogenic injuries.
Conclusions:
- The presented robotic system offers a safer approach to membrane peeling.
- Precise force sensing and control can significantly improve outcomes in vitreoretinal surgery.
