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Position-Based Virtual Fixtures for Membrane Peeling with a Handheld Micromanipulator
Brian C Becker1, Robert A Maclachlan1, Louis A Lobes2
1Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
IEEE International Conference on Robotics and Automation : ICRA : [Proceedings]. IEEE International Conference on Robotics and Automation
|April 12, 2014
Summary
This study introduces a handheld microsurgical robot to improve delicate retinal membrane peeling. The robot suppresses tremor and limits force, reducing potential injury during surgery.
Area of Science:
- Ophthalmology
- Robotics
- Biomedical Engineering
Background:
- Peeling thin retinal membranes (<5 µm) is a complex microsurgical procedure.
- Surgical tremor and excessive force can lead to retinal tears, increasing injury and reoperation rates.
Purpose of the Study:
- To develop and evaluate a handheld microsurgical robot for enhanced precision in retinal membrane peeling.
- To reduce surgical complications by suppressing tremor and controlling tool motion.
Main Methods:
- A fully handheld microsurgical robot was developed to suppress surgeon tremor.
- Stereo vision and tracking algorithms enabled motion-scaled behavior near the retinal surface.
- Virtual fixtures limited downward force, and velocity limiting ensured smooth peeling motions.
Main Results:
- The robotic system demonstrated tremor suppression and controlled tool engagement.
- A hard virtual fixture limited applied downward force.
- Velocity limiting facilitated smooth, constant force application during membrane delamination.
- Experiments on a phantom model showed a 40-70% reduction in maximum applied force.
Conclusions:
- The proposed handheld microsurgical robot offers enhanced control for delicate retinal membrane peeling.
- The system's tremor suppression and force/velocity limiting capabilities can potentially decrease surgical injury.
- This technology may improve outcomes in challenging retinal surgeries.
