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Towards Bimanual Robot-Assisted Retinal Surgery: Tool-to-Sclera Force Evaluation
Changyan He1,2, Marina Roizenblatt3,4, Niravkumar Patel1
1LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA.
Proceedings of IEEE Sensors. IEEE International Conference on Sensors
|August 6, 2019
Summary
Dominant hands apply higher forces during bimanual retinal surgery. Robot-assisted surgery also increased forces compared to freehand, highlighting the need for safety criteria in bimanual manipulation.
Area of Science:
- Ophthalmology
- Robotics
- Biomechanics
Background:
- Retinal microsurgery demands precise bimanual coordination.
- Non-dominant hand assistance can impact dominant hand performance in surgery.
- Understanding bimanual forces is crucial for robotic surgical system development.
Purpose of the Study:
- To quantitatively assess tool-to-sclera forces during bimanual retinal surgery.
- To compare forces between dominant and non-dominant hands.
- To evaluate the impact of robot-assistance on surgical forces.
Main Methods:
- Developed two force-sensing tools utilizing fiber Bragg grating sensors.
- Measured tool-to-sclera contact forces during five standard surgical maneuvers.
- Compared freehand and robot-assisted (Steady Hand Robot) surgical conditions.
- Involved two subjects: one clinician and one engineer.
Main Results:
- The dominant hand tool exerted significantly higher average force than the non-dominant hand tool (p=0.004).
- Robot-assisted surgery resulted in notably higher average forces compared to freehand conditions (p=0.01).
- A weak correlation was observed between forces from dominant and non-dominant hand instruments.
Conclusions:
- Dominant hand forces are significantly higher in bimanual retinal surgery.
- Robot-assisted conditions may increase applied forces, necessitating safety considerations.
- Further research into bimanual force dynamics is essential for safe and effective robotic surgical systems.
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