TY - GEN
T1 - Force-based Safe Vein Cannulation in Robot-Assisted Retinal Surgery
T2 - 2020 International Symposium on Medical Robotics, ISMR 2020
AU - Wu, Jiahao
AU - He, Changyan
AU - Zhou, Mingchuan
AU - Ebrahimi, Ali
AU - Urias, Muller
AU - Patel, Niravkumar A.
AU - Liu, Yun Hui
AU - Gehlbach, Peter
AU - Iordachita, Iulian
N1 - Funding Information:
This work was supported by U.S. National Institutes of Health under grant number 1R01EB023943-01. The work of J. Wu was supported in part by the HK RGC under T42-409/18-R and 14202918.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/18
Y1 - 2020/11/18
N2 - Retinal vein cannulation (RVC) is a potential treatment for retinal vein occlusion (RVO). Manual surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-Assisted retinal surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a retinal surgeon to demonstrate the advantages of our automatic compensation approach.
AB - Retinal vein cannulation (RVC) is a potential treatment for retinal vein occlusion (RVO). Manual surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-Assisted retinal surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a retinal surgeon to demonstrate the advantages of our automatic compensation approach.
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U2 - 10.1109/ISMR48331.2020.9312945
DO - 10.1109/ISMR48331.2020.9312945
M3 - Conference contribution
AN - SCOPUS:85098011389
T3 - 2020 International Symposium on Medical Robotics, ISMR 2020
SP - 8
EP - 14
BT - 2020 International Symposium on Medical Robotics, ISMR 2020
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 18 November 2020 through 20 November 2020
ER -