A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery

Iulian Iordachita; Zhenglong Sun; Marcin Balicki; Jin U. Kang; Soo Jay Phee; James Handa; Peter Gehlbach; Russell Taylor

doi:10.1007/s11548-009-0301-6

A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery

Iulian Iordachita, Zhenglong Sun, Marcin Balicki, Jin U. Kang, Soo Jay Phee, James Handa, Peter Gehlbach, Russell Taylor

Research output: Contribution to journal › Article › peer-review

121 Scopus citations

Abstract

Purpose: Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening. Methods: We present the design and analysisof a force measurement device that senses distal forces interior to the sclera using 1-cm long, 160 μm diameter Fiber Bragg Grating (FBG) strain sensors embedded in a 0.5 mm diameter tool shaft. Additionally, we provide an algorithm developed to cancel the influence of environmental temperature fluctuations. Results: The force-sensing prototype measures forces witha resolution of 0.25 mN in 2 DOF while being insensitive to temperature. Conclusion: Sub-millinewton resolution force sensors integrated into microsurgical instruments are feasible and have potential applications in both robotic and freehand microsurgery.

Original language	English (US)
Pages (from-to)	383-390
Number of pages	8
Journal	International Journal of Computer Assisted Radiology and Surgery
Volume	4
Issue number	4
DOIs	https://doi.org/10.1007/s11548-009-0301-6
State	Published - Jun 2009

Keywords

Computer-assisted surgery
Force sensor
Microsurgery
Surgical instruments

ASJC Scopus subject areas

Health Informatics
Radiology Nuclear Medicine and imaging
Computer Vision and Pattern Recognition
Surgery
Biomedical Engineering
Computer Science Applications
Computer Graphics and Computer-Aided Design

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10.1007/s11548-009-0301-6

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title = "A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery",

abstract = "Purpose: Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening. Methods: We present the design and analysisof a force measurement device that senses distal forces interior to the sclera using 1-cm long, 160 μm diameter Fiber Bragg Grating (FBG) strain sensors embedded in a 0.5 mm diameter tool shaft. Additionally, we provide an algorithm developed to cancel the influence of environmental temperature fluctuations. Results: The force-sensing prototype measures forces witha resolution of 0.25 mN in 2 DOF while being insensitive to temperature. Conclusion: Sub-millinewton resolution force sensors integrated into microsurgical instruments are feasible and have potential applications in both robotic and freehand microsurgery.",

keywords = "Computer-assisted surgery, Force sensor, Microsurgery, Surgical instruments",

author = "Iulian Iordachita and Zhenglong Sun and Marcin Balicki and Kang, {Jin U.} and Phee, {Soo Jay} and James Handa and Peter Gehlbach and Russell Taylor",

note = "Funding Information: Acknowledgments This work was supported in part by the U.S. National Science Foundation under Cooperative Agreement EEC9731478, in part by the National Institutes of Health under BRP 1 R01 EB 007969-01 A1, and in part by Johns Hopkins internal funds.",

year = "2009",

month = jun,

doi = "10.1007/s11548-009-0301-6",

language = "English (US)",

volume = "4",

pages = "383--390",

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T1 - A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery

AU - Iordachita, Iulian

AU - Sun, Zhenglong

AU - Balicki, Marcin

AU - Kang, Jin U.

AU - Phee, Soo Jay

AU - Handa, James

AU - Gehlbach, Peter

AU - Taylor, Russell

N1 - Funding Information: Acknowledgments This work was supported in part by the U.S. National Science Foundation under Cooperative Agreement EEC9731478, in part by the National Institutes of Health under BRP 1 R01 EB 007969-01 A1, and in part by Johns Hopkins internal funds.

PY - 2009/6

Y1 - 2009/6

N2 - Purpose: Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening. Methods: We present the design and analysisof a force measurement device that senses distal forces interior to the sclera using 1-cm long, 160 μm diameter Fiber Bragg Grating (FBG) strain sensors embedded in a 0.5 mm diameter tool shaft. Additionally, we provide an algorithm developed to cancel the influence of environmental temperature fluctuations. Results: The force-sensing prototype measures forces witha resolution of 0.25 mN in 2 DOF while being insensitive to temperature. Conclusion: Sub-millinewton resolution force sensors integrated into microsurgical instruments are feasible and have potential applications in both robotic and freehand microsurgery.

AB - Purpose: Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening. Methods: We present the design and analysisof a force measurement device that senses distal forces interior to the sclera using 1-cm long, 160 μm diameter Fiber Bragg Grating (FBG) strain sensors embedded in a 0.5 mm diameter tool shaft. Additionally, we provide an algorithm developed to cancel the influence of environmental temperature fluctuations. Results: The force-sensing prototype measures forces witha resolution of 0.25 mN in 2 DOF while being insensitive to temperature. Conclusion: Sub-millinewton resolution force sensors integrated into microsurgical instruments are feasible and have potential applications in both robotic and freehand microsurgery.

KW - Computer-assisted surgery

KW - Force sensor

KW - Microsurgery

KW - Surgical instruments

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A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery

Abstract

Keywords

ASJC Scopus subject areas

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