Toward robotically assisted membrane peeling with 3-DOF distal force sensing in retinal microsurgery

Area of Science:

• Ophthalmology
• Robotics
• Surgical Technology

Background:

• Retinal microsurgery demands high precision and stability due to delicate tissues and limited space.
• Physiological hand tremor and inadequate force feedback are significant challenges in current microsurgical techniques.

Purpose of the Study:

• To develop and evaluate a robotic system for enhanced retinal microsurgery.
• To address limitations of hand tremor and lack of force sensing in microsurgical procedures.

Main Methods:

• A cooperatively controlled Steady-Hand Eye Robot was integrated with a miniaturized 3-DOF force sensing instrument.
• Auditory sensory substitution was employed to provide real-time force feedback to the surgeon.
• Evaluation involved experiments using artificial and biological membrane peeling phantoms.

Main Results:

• The robotic system effectively suppressed hand tremor, enabling steady and precise tissue manipulation.
• The force sensing instrument achieved submillinewton resolution for 3D force measurements.
• Auditory feedback allowed effective control of tool-to-tissue forces during simulated surgical tasks.

Conclusions:

• The developed robotic system significantly improves precision and control in microsurgery.
• Auditory sensory substitution is a viable method for real-time force feedback in surgical robotics.
• This technology holds promise for advancing the safety and efficacy of retinal microsurgery.