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Related Experiment Video

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High-resolution Fiber-optic Microendoscopy for in situ Cellular Imaging
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Fiber-optic OCT sensor guided "SMART" micro-forceps for microsurgery.

Cheol Song1, Dong Yong Park, Peter L Gehlbach

  • 1Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles St., Baltimore, MD 21218, USA.

Biomedical Optics Express
|July 13, 2013
PubMed
Summary
This summary is machine-generated.

A novel robotic microsurgery forceps integrates optical coherence tomography for enhanced precision. This Smart Micromanipulation Aided Robotic-surgery Tool (SMART) improves grasping and peeling, boosting surgical performance and safety.

Keywords:
(060.2370) Fiber optics sensors(170.3890) Medical optics instrumentation(170.4500) Optical coherence tomography(280.4788) Optical sensing and sensors

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Area of Science:

  • Biomedical Engineering
  • Surgical Robotics
  • Medical Instrumentation

Background:

  • Micromanipulation in surgery requires high precision and stability.
  • Existing micro-forceps lack integrated real-time feedback for precise control.
  • Tremor and inaccuracies limit the effectiveness of freehand micro-forceps manipulation.

Purpose of the Study:

  • To develop and evaluate a novel handheld robotic micro-forceps system.
  • To integrate a fiber-optic common-path optical coherence tomography (CP-OCT) sensor for precise tool tip guidance.
  • To assess the impact of active tremor compensation on micro-forceps performance.

Main Methods:

  • A Smart Micromanipulation Aided Robotic-surgery Tool (SMART) micro-forceps was designed and fabricated.
  • A fiber-optic CP-OCT sensor was integrated into the micro-forceps shaft for distance and motion sensing.
  • Closed-loop control using a piezoelectric motor enabled precise longitudinal manipulation.
  • Grasping and peeling functions were tested in dry phantoms and a biological tissue model.

Main Results:

  • The integrated CP-OCT sensor provided real-time feedback for tool tip positioning.
  • The piezoelectric motor facilitated accurate longitudinal control of the micro-forceps.
  • Active tremor compensation significantly improved targeted grasping and peeling performance compared to freehand operation.
  • The SMART micro-forceps demonstrated enhanced user performance in simulated surgical tasks.

Conclusions:

  • The developed SMART micro-forceps system offers enhanced precision and control for micromanipulation tasks.
  • Integration of CP-OCT sensing and active tremor compensation improves surgical safety and efficiency.
  • This novel robotic tool has the potential to significantly improve surgical outcomes in delicate procedures.