A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot

Berk Gonenc; James Handa; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita

doi:10.1109/ICRA.2013.6631266

A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot

Berk Gonenc, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

20 Scopus citations

Abstract

In vitreoretinal surgery, application of excessive forces and unintentional motion due to hand-tremor can easily result in serious complications. Robotic assistance when combined with tool-to-tissue force sensing capabilities has significant potential to improve such practice. In this paper, we evaluate the membrane peeling performance of a single user for two distinct robotic systems with integrated force sensing capabilities: Micron and the Steady-Hand Robot. We show that these systems provide promising performance improvement with similar impact on peeling forces and comparable tremor cancellation trends.

Original language	English (US)
Title of host publication	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages	4832-4837
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2013.6631266
State	Published - 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: May 6 2013 → May 10 2013

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	5/6/13 → 5/10/13

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2013.6631266

Cite this

Gonenc, B., Handa, J., Gehlbach, P., Taylor, R. H., & Iordachita, I. (2013). A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 4832-4837). Article 6631266 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6631266

A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot. / Gonenc, Berk; Handa, James ; Gehlbach, Peter et al.
2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. p. 4832-4837 6631266 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Gonenc, B, Handa, J , Gehlbach, P , Taylor, RH & Iordachita, I 2013, A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6631266, Proceedings - IEEE International Conference on Robotics and Automation, pp. 4832-4837, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 5/6/13. https://doi.org/10.1109/ICRA.2013.6631266

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AB - In vitreoretinal surgery, application of excessive forces and unintentional motion due to hand-tremor can easily result in serious complications. Robotic assistance when combined with tool-to-tissue force sensing capabilities has significant potential to improve such practice. In this paper, we evaluate the membrane peeling performance of a single user for two distinct robotic systems with integrated force sensing capabilities: Micron and the Steady-Hand Robot. We show that these systems provide promising performance improvement with similar impact on peeling forces and comparable tremor cancellation trends.

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A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot

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