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A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery*

Identifieur interne : 003438 ( Ncbi/Curation ); précédent : 003437; suivant : 003439

A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery*

Auteurs : Xingchi He [États-Unis] ; Marcin Balicki ; Peter Gehlbach ; James Handa ; Russell Taylor ; Iulian Iordachita [États-Unis]

Source :

IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation [ 2152-4092 ] ; 2014.

RBID : PMC:4220308

Abstract

Robotic systems have the potential to assist vitreoretinal 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 multi-function force sensing instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.

Url:

http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4220308

DOI: 10.1109/ICRA.2014.6907037
PubMed: 25383234
PubMed Central: 4220308

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Marcin Balicki

<affiliation><nlm:aff id="A2">Computer Science Department, Johns Hopkins University, Baltimore, MD 21218, USA. Dr. Taylor is the John C. Malone Professor</nlm:aff>
<wicri:noCountry code="subfield">USA. Dr. Taylor is the John C. Malone Professor</wicri:noCountry>
</affiliation>

Peter Gehlbach

<affiliation><nlm:aff id="A3">Department of Ophthalmology, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA. Dr. Handa is the Robert Bond Welch Professor</nlm:aff>
<wicri:noCountry code="subfield">USA. Dr. Handa is the Robert Bond Welch Professor</wicri:noCountry>
</affiliation>

James Handa

<affiliation><nlm:aff id="A3">Department of Ophthalmology, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA. Dr. Handa is the Robert Bond Welch Professor</nlm:aff>
<wicri:noCountry code="subfield">USA. Dr. Handa is the Robert Bond Welch Professor</wicri:noCountry>
</affiliation>

Russell Taylor

<affiliation><nlm:aff id="A2">Computer Science Department, Johns Hopkins University, Baltimore, MD 21218, USA. Dr. Taylor is the John C. Malone Professor</nlm:aff>
<wicri:noCountry code="subfield">USA. Dr. Taylor is the John C. Malone Professor</wicri:noCountry>
</affiliation>

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<front><div type="abstract" xml:lang="en"><p id="P1">Robotic systems have the potential to assist vitreoretinal 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 multi-function force sensing instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.</p>
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A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery*

A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery*

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