TY - GEN
T1 - Micro-force sensing in robot assisted membrane peeling for vitreoretinal surgery
AU - Balicki, Marcin
AU - Uneri, Ali
AU - Iordachita, Iulian
AU - Handa, James
AU - Gehlbach, Peter
AU - Taylor, Russell
PY - 2010
Y1 - 2010
N2 - Vitreoretinal surgeons use 0.5mm diameter instruments to manipulate delicate tissue inside the eye while applying imperceptible forces that can cause damage to the retina. We present a system which robotically regulates user-applied forces to the tissue, to minimize the risk of retinal hemorrhage or tear during membrane peeling, a common task in vitreoretinal surgery. Our research platform is based on a cooperatively controlled microsurgery robot. It integrates a custom micro-force sensing surgical pick, which provides conventional surgical function and real time force information. We report the development of a new phantom, which is used to assess robot control, force feedback methods, and our newly implemented auditory sensory substitution to specifically assist membrane peeling. Our findings show that auditory sensory substitution decreased peeling forces in all tests, and that robotic force scaling with audio feedback is the most promising aid in reducing peeling forces and task completion time.
AB - Vitreoretinal surgeons use 0.5mm diameter instruments to manipulate delicate tissue inside the eye while applying imperceptible forces that can cause damage to the retina. We present a system which robotically regulates user-applied forces to the tissue, to minimize the risk of retinal hemorrhage or tear during membrane peeling, a common task in vitreoretinal surgery. Our research platform is based on a cooperatively controlled microsurgery robot. It integrates a custom micro-force sensing surgical pick, which provides conventional surgical function and real time force information. We report the development of a new phantom, which is used to assess robot control, force feedback methods, and our newly implemented auditory sensory substitution to specifically assist membrane peeling. Our findings show that auditory sensory substitution decreased peeling forces in all tests, and that robotic force scaling with audio feedback is the most promising aid in reducing peeling forces and task completion time.
KW - Auditory Sensory Substitution
KW - Cooperative Robot Control
KW - Force Scaling
KW - Force Sensing
KW - Robotic Microsurgery
KW - Vitreoretinal Surgery
UR - http://www.scopus.com/inward/record.url?scp=84863894953&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863894953&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-15711-0_38
DO - 10.1007/978-3-642-15711-0_38
M3 - Conference contribution
C2 - 20879413
AN - SCOPUS:84863894953
SN - 3642157106
SN - 9783642157103
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 303
EP - 310
BT - Medical Image Computing and Computer-Assisted Intervention, MICCAI2010 - 13th International Conference, Proceedings
T2 - 13th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2010
Y2 - 20 September 2010 through 24 September 2010
ER -