Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback.

Area of Science:

• Robotics
• Ophthalmology
• Biomedical Engineering

Background:

• Surgeon hand tremor limits precision in microsurgical procedures like eye surgery.
• Microsurgical robots can eliminate tremor but reduce surgeon's tactile perception of tool-to-sclera forces.
• Reduced tactile feedback in robotic eye surgery poses a risk of scleral tissue injury.

Purpose of the Study:

• To compare two methods for ensuring scleral tissue safety during robot-assisted eye surgery.
• To evaluate an active control strategy against a passive force control method.
• To mitigate risks associated with reduced tactile sensation in robotic ophthalmic surgery.

Main Methods:

• Implemented an adaptive force control strategy on the Steady-Hand Eye Robot for active force compensation.
• Compared the active control method with a passive force control method utilizing surgeon-adjusted audio feedback.
• Conducted a pilot study with three users to assess the efficacy of both methods.

Main Results:

• The active control method demonstrated potential for greater efficiency in managing scleral forces.
• The study provided initial data on the performance of active versus passive force control in robotic eye surgery.
• User feedback indicated differences in the perceived safety and control between the two methods.

Conclusions:

• Active force control strategies show promise for enhancing scleral tissue safety in robotic eye surgery.
• Further research is warranted to optimize robotic systems for tactile feedback and safety in ophthalmic procedures.
• The findings suggest a potential improvement in surgical safety through advanced robotic control mechanisms.