Cooperative robot assistant for retinal microsurgery

Ioana Fleming, Marcin Balicki, John Koo, Iulian Iordachita, Ben Mitchell, James Handa, Gregory Hager, Russell Taylor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

50 Scopus citations


This paper describes the development and results of initial testing of a cooperative robot assistant for retinal microsurgery. In the cooperative control paradigm, the surgeon and the robot share control of a tool attached to the robot through a force sensor. The system senses forces exerted by the operator on the tool and uses this information in various control modes to provide smooth, tremor-free, precise positional control and force scaling. The robot manipulator is specifically designed with retinal microsurgery in mind, having high efficacy, flexibility and ergonomics while meeting the accuracy and safety requirements of microsurgery. We have tested this robot on a biological model and we report the results for reliably cannulating ∼80 μm diameter veins (equivalent in size to human retinal veins). We also describe improvements to the robot and the experimental setup facilitating more advanced set of experiments.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2008 - 11th International Conference, Proceedings
PublisherSpringer Verlag
Number of pages8
EditionPART 2
ISBN (Print)3540859896, 9783540859895
StatePublished - 2008
Event11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008 - New York, NY, United States
Duration: Sep 6 2008Sep 10 2008

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume5242 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other11th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2008
Country/TerritoryUnited States
CityNew York, NY


  • Cooperative robot control
  • Retinal microsurgery
  • Vein cannulation

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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