A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery*
Identifieur interne : 000E66 ( Pmc/Checkpoint ); précédent : 000E65; suivant : 000E67A 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.
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:
DOI: 10.1109/ICRA.2014.6907037
PubMed: 25383234
PubMed Central: 4220308
Affiliations:
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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>
</div>
</front>
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<pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
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<journal-id journal-id-type="nlm-ta">IEEE Int Conf Robot Autom</journal-id>
<journal-id journal-id-type="iso-abbrev">IEEE Int Conf Robot Autom</journal-id>
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<title-group><article-title>A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery<sup><xref ref-type="fn" rid="FN1">*</xref>
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<contrib-group><contrib contrib-type="author"><name><surname>He</surname>
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Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218, USA</aff>
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Computer Science Department, Johns Hopkins University, Baltimore, MD 21218, USA. Dr. Taylor is the John C. Malone Professor</aff>
<aff id="A3"><label>3</label>
Department of Ophthalmology, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA. Dr. Handa is the Robert Bond Welch Professor</aff>
<pub-date pub-type="nihms-submitted"><day>25</day>
<month>4</month>
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<pmc-comment>elocation-id from pubmed: 10.1109/ICRA.2014.6907037</pmc-comment>
<abstract><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>
</abstract>
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