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Towards Robot-Assisted Vitreoretinal Surgery: Force-Sensing Micro-Forceps Integrated with a Handheld Micromanipulator
Berk Gonenc1, Ellen Feldman2, Peter Gehlbach3
1CISST ERC at Johns Hopkins University, Baltimore, MD 21218 USA.
IEEE International Conference on Robotics and Automation : ICRA : [Proceedings]. IEEE International Conference on Robotics and Automation
|November 18, 2014
Summary
This study introduces an integrated system for vitreoretinal surgery, combining tremor-canceling micromanipulators with force-sensing micro-forceps. The system significantly reduces tremor and controls retinal forces, enhancing surgical precision and safety.
Area of Science:
- Ophthalmology
- Surgical Robotics
- Biomedical Engineering
Background:
- Vitreoretinal surgery demands precise instrument control and minimized force application to the delicate retina.
- Existing technologies often struggle to simultaneously address tremor reduction and accurate force sensing.
- The need for enhanced safety and efficacy in microsurgical procedures is paramount.
Purpose of the Study:
- To develop and evaluate an integrated system for vitreoretinal microsurgery.
- To achieve controlled, tremor-free motion and limit applied forces to the retina.
- To enhance the safety and precision of surgical interventions.
Main Methods:
- Development of a force-sensing motorized micro-forceps (20 Ga) with mechanical decoupling.
- Integration with an active tremor-canceling handheld micromanipulator (Micron).
- Performance evaluation using membrane peeling trials on a bandage phantom model.
Main Results:
- The integrated system demonstrated significant tremor reduction (60-95% in the 2-20 Hz band) in both tip force and position spectra.
- The force-sensing micro-forceps achieved high accuracy (0.3 mN) in detecting transverse forces.
- Surgical forces during simulated membrane peeling remained below the predetermined safety threshold.
Conclusions:
- The novel integrated system effectively addresses the critical needs for tremor control and force limitation in vitreoretinal surgery.
- This technology holds potential for improving surgical outcomes and patient safety.
- Further clinical validation is warranted to assess its full impact on surgical practice.
