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Real-Time Sclera Force Feedback for Enabling Safe Robot-Assisted Vitreoretinal Surgery.

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    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
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    Robotic vitreoretinal surgery can be improved with force feedback. Force sensing tools provide audio or haptic feedback, reducing excessive scleral forces and enhancing surgical safety.

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    Area of Science:

    • Ophthalmology
    • Robotics
    • Biomedical Engineering

    Background:

    • Robotic vitreoretinal surgery presents challenges in managing tool forces on the sclera.
    • Robotic systems can reduce surgeon's tactile perception of scleral forces.
    • Understanding tool-tissue interactions is crucial for safety.

    Purpose of the Study:

    • To evaluate the utility of scleral force feedback in robot-assisted eye surgery.
    • To assess the impact of passive audio and active haptic feedback on scleral forces.
    • To improve safety and functionality in robotic vitreoretinal procedures.

    Main Methods:

    • Robot-assisted eye manipulation experiments were conducted.
    • A force-sensing tool was integrated with robot manipulators.
    • Passive audio and active haptic feedback modalities were assessed.

    Main Results:

    • The duration of experiments increased with feedback.
    • The time scleral forces exceeded a safe threshold significantly decreased with feedback.
    • Both passive and active feedback demonstrated a positive impact.

    Conclusions:

    • Scleral force feedback is beneficial in robot-assisted vitreoretinal surgery.
    • Force feedback enhances surgical safety by minimizing excessive scleral forces.
    • Further integration of force-sensing tools can improve robotic surgical outcomes.