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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

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
|February 1, 2013
PubMed
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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.

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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.