TY - GEN
T1 - A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery
AU - He, Xingchi
AU - Balicki, Marcin
AU - Gehlbach, Peter
AU - Handa, James
AU - Taylor, Russell
AU - Iordachita, Iulian
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Robotic systems have the potential to assist vitre-oretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force sensing ophthalmic instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function instrument that is capable of measuring mN-level forces at the instrument tip located inside the eye, and also the sclera contact location on the instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multifunction force sensing instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
AB - Robotic systems have the potential to assist vitre-oretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force sensing ophthalmic instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function instrument that is capable of measuring mN-level forces at the instrument tip located inside the eye, and also the sclera contact location on the instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multifunction force sensing instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
UR - http://www.scopus.com/inward/record.url?scp=84929224898&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929224898&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907037
DO - 10.1109/ICRA.2014.6907037
M3 - Conference contribution
AN - SCOPUS:84929224898
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1411
EP - 1418
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -