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Evaluation of a Micro-Force Sensing Handheld Robot for Vitreoretinal Surgery
Berk Gonenc1, Marcin A Balicki, James Handa
1ERC for Computer Integrated Surgery at Johns Hopkins University, Baltimore, MD 21218 USA.
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
|February 5, 2013
Summary
This study introduces a micromanipulator with force sensing for vitreoretinal surgery. It uses auditory feedback to help surgeons control tool forces, improving safety during delicate membrane peeling procedures.
Area of Science:
- Ophthalmology
- Robotics
- Biomedical Engineering
Background:
- Vitreoretinal microsurgery demands high precision, especially in membrane peeling.
- Delicate retinal tissue manipulation requires forces below human perception, risking damage.
- Current limitations include unintentional tool motion and inadequate force control.
Purpose of the Study:
- To present a micro-force sensing robot for enhanced vitreoretinal surgery.
- To implement real-time tool-to-tissue force measurement using fiber Bragg gratings.
- To assess the benefits of auditory sensory substitution for force control.
Main Methods:
- Integration of fiber Bragg grating force sensing into an active tremor-canceling micromanipulator (Micron).
- Development of auditory sensory substitution for real-time force feedback.
- Evaluation using peeling experiments with adhesive bandages and chicken egg membranes.
Main Results:
- The force-sensing Micron successfully measured tool-to-tissue interaction forces.
- Auditory sensory substitution aided in reducing and limiting applied forces.
- Combined tremor cancellation and auditory feedback kept peeling forces below 7 mN.
Conclusions:
- Micro-force sensing robots offer significant benefits for vitreoretinal surgery.
- Active tremor cancellation coupled with auditory feedback is a promising aid for delicate procedures.
- This technology can reduce oscillations and maintain critical force limits, enhancing surgical outcomes.
