HapticV1, Ncbi, Curation, bibRecord, 003579

Development of A Miniaturized 3-DOF Force Sensing Instrument for Robotically Assisted Retinal Microsurgery and Preliminary Results*

Identifieur interne : 003579 ( Ncbi/Curation ); précédent : 003578; suivant : 003580

Development of A Miniaturized 3-DOF Force Sensing Instrument for Robotically Assisted Retinal Microsurgery and Preliminary Results*

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

Source :

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics ; 2014.

RBID : PMC:4276342

Abstract

Lack of force sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force sensing instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force sensing sensitivity and low crosstalk noise. The force sensing segment of the tool, located directly proximal to the tool tip, is ø0.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force sensing. Analysis of the experiment results suggests improvements for the future iteration.

Url:

http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4276342

DOI: 10.1109/BIOROB.2014.6913785
PubMed: 25544966
PubMed Central: 4276342

Links toward previous steps (curation, corpus...)

to stream Pmc, to step Corpus: Pour aller vers cette notice dans l'étape Curation :001836
to stream Pmc, to step Curation: Pour aller vers cette notice dans l'étape Curation :001836
to stream Pmc, to step Checkpoint: Pour aller vers cette notice dans l'étape Curation :000D09
to stream Ncbi, to step Merge: Pour aller vers cette notice dans l'étape Curation :003579

Links to Exploration step

PMC:4276342

Curation

No country items

Peter Gehlbach

<affiliation><nlm:aff id="A2">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="A2">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="A3">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>

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Development of A Miniaturized 3-DOF Force Sensing Instrument for Robotically Assisted Retinal Microsurgery and Preliminary Results<sup><xref ref-type="fn" rid="FN1">*</xref>
</sup>
</title>
<author><name sortKey="He, Xingchi" sort="He, Xingchi" uniqKey="He X" first="Xingchi" last="He">Xingchi He</name>
<affiliation wicri:level="2"><nlm:aff id="A1">Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA</nlm:aff>
<country xml:lang="fr">États-Unis</country>
<wicri:regionArea>Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218</wicri:regionArea>
<placeName><region type="state">Maryland</region>
</placeName>
</affiliation>
</author>
<author><name sortKey="Gehlbach, Peter" sort="Gehlbach, Peter" uniqKey="Gehlbach P" first="Peter" last="Gehlbach">Peter Gehlbach</name>
<affiliation><nlm:aff id="A2">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>
</author>
<author><name sortKey="Handa, James" sort="Handa, James" uniqKey="Handa J" first="James" last="Handa">James Handa</name>
<affiliation><nlm:aff id="A2">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>
</author>
<author><name sortKey="Taylor, Russell" sort="Taylor, Russell" uniqKey="Taylor R" first="Russell" last="Taylor">Russell Taylor</name>
<affiliation><nlm:aff id="A3">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>
</author>
<author><name sortKey="Iordachita, Iulian" sort="Iordachita, Iulian" uniqKey="Iordachita I" first="Iulian" last="Iordachita">Iulian Iordachita</name>
<affiliation wicri:level="2"><nlm:aff id="A1">Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA</nlm:aff>
<country xml:lang="fr">États-Unis</country>
<wicri:regionArea>Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218</wicri:regionArea>
<placeName><region type="state">Maryland</region>
</placeName>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PMC</idno>
<idno type="pmid">25544966</idno>
<idno type="pmc">4276342</idno>
<idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4276342</idno>
<idno type="RBID">PMC:4276342</idno>
<idno type="doi">10.1109/BIOROB.2014.6913785</idno>
<date when="2014">2014</date>
<idno type="wicri:Area/Pmc/Corpus">001836</idno>
<idno type="wicri:Area/Pmc/Curation">001836</idno>
<idno type="wicri:Area/Pmc/Checkpoint">000D09</idno>
<idno type="wicri:Area/Ncbi/Merge">003579</idno>
<idno type="wicri:Area/Ncbi/Curation">003579</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Development of A Miniaturized 3-DOF Force Sensing Instrument for Robotically Assisted Retinal Microsurgery and Preliminary Results<sup><xref ref-type="fn" rid="FN1">*</xref>
</sup>
</title>
<author><name sortKey="He, Xingchi" sort="He, Xingchi" uniqKey="He X" first="Xingchi" last="He">Xingchi He</name>
<affiliation wicri:level="2"><nlm:aff id="A1">Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA</nlm:aff>
<country xml:lang="fr">États-Unis</country>
<wicri:regionArea>Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218</wicri:regionArea>
<placeName><region type="state">Maryland</region>
</placeName>
</affiliation>
</author>
<author><name sortKey="Gehlbach, Peter" sort="Gehlbach, Peter" uniqKey="Gehlbach P" first="Peter" last="Gehlbach">Peter Gehlbach</name>
<affiliation><nlm:aff id="A2">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>
</author>
<author><name sortKey="Handa, James" sort="Handa, James" uniqKey="Handa J" first="James" last="Handa">James Handa</name>
<affiliation><nlm:aff id="A2">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>
</author>
<author><name sortKey="Taylor, Russell" sort="Taylor, Russell" uniqKey="Taylor R" first="Russell" last="Taylor">Russell Taylor</name>
<affiliation><nlm:aff id="A3">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>
</author>
<author><name sortKey="Iordachita, Iulian" sort="Iordachita, Iulian" uniqKey="Iordachita I" first="Iulian" last="Iordachita">Iulian Iordachita</name>
<affiliation wicri:level="2"><nlm:aff id="A1">Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA</nlm:aff>
<country xml:lang="fr">États-Unis</country>
<wicri:regionArea>Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218</wicri:regionArea>
<placeName><region type="state">Maryland</region>
</placeName>
</affiliation>
</author>
</analytic>
<series><title level="j">Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics</title>
<imprint><date when="2014">2014</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass></textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en"><p id="P1">Lack of force sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force sensing instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force sensing sensitivity and low crosstalk noise. The force sensing segment of the tool, located directly proximal to the tool tip, is ø0.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force sensing. Analysis of the experiment results suggests improvements for the future iteration.</p>
</div>
</front>
</TEI>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Ncbi/Curation

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 003579 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/Ncbi/Curation/biblio.hfd -nk 003579 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    Ncbi
   |étape=   Curation
   |type=    RBID
   |clé=     PMC:4276342
   |texte=   Development of A Miniaturized 3-DOF Force Sensing Instrument for Robotically Assisted Retinal Microsurgery and Preliminary Results*
}}

Pour générer des pages wiki

HfdIndexSelect -h $EXPLOR_AREA/Data/Ncbi/Curation/RBID.i   -Sk "pubmed:25544966" \
       | HfdSelect -Kh $EXPLOR_AREA/Data/Ncbi/Curation/biblio.hfd   \
       | NlmPubMed2Wicri -a HapticV1

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

Development of A Miniaturized 3-DOF Force Sensing Instrument for Robotically Assisted Retinal Microsurgery and Preliminary Results*

Development of A Miniaturized 3-DOF Force Sensing Instrument for Robotically Assisted Retinal Microsurgery and Preliminary Results*

Source :

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Curation

No country items

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri

Pour générer des pages wiki