Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 4125-4130

  Gonenc, Berk ^a   Balicki, Marcin A ^a   Handa, James ^b   Gehlbach, Peter ^b   Riviere, Cameron N ^c   Taylor, Russell H ^a   Iordachita, Iulian ^a  

^a JOHNS HOPKINS UNIVERSITY   (United States)

^b JOHNS HOPKINS UNIVERSITY   (United States)

^c CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

APPLIED FORCES; FORCE SENSING; HANDHELDS; HUMAN PERCEPTION; INNER SHELL; INTERACTION FORCES; IRREVERSIBLE DAMAGE; KEY FEATURE; MICROFORCE SENSING; POTENTIAL BENEFITS; REAL TIME; RETINAL TISSUE; SENSORY SUBSTITUTION; SURGICAL TOOLS; VISION LOSS; VITREORETINAL SURGERY;

FIBER BRAGG GRATINGS; INTELLIGENT SYSTEMS; SURGERY; SURGICAL EQUIPMENT;

TISSUE;

EID: 84872338856     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385715     Document Type: Conference Paper

References (29)

1. J. R. Wilkins, C. A. Puliafito, M. R. Hee, J. S. Duker, E. Reichel, J. G. Coker, J. S. Schuman, E. A. Swanson, and J. G. Fujimoto, "Characterization of epiretinal membranes using optical coherence tomography," Ophthalmology, vol. 103, no. 12, pp. 2142-2151, Dec. 1996.
2. R. N. Sjaarda, B. M. Glaser, J. T. Thompson, R. P. Murphy, and A. Hanham, " Distribution of iatrogenic retinal breaks in macular hole surgery," Ophthalmology, vol. 102, no. 9, pp. 1387-1392, Sep. 1995.
3. J. B. Carter, R. G. Michels, B. M. Glaser, and S. DeBustros, "Iatrogenic retinal breaks complicating pars plana vitrectomy," Ophthalmology, vol. 97, no. 7, pp. 848-853, July 1990.
4. R. A. Grigorian, A. Castellarin, R. Fegan, C. Seery, L. V. Del Priore, S. von Hagen, and M. A. Zarbin, "Epiretinal membrane removal in diabetic eyes: Comparison of visco dissection with conventional methods of membrane peeling," Br J Ophthalmology, vol.87, pp. 737-741, June 2003.
5. K. Nakata, M. Ohji, Y. Ikuno, S. Kusaka, F. Gomi, and Y. Tano, "Sub-retinal hemorrhage during intemal limiting membrane peeling for a macular hole," Graefes Arch Clin Exp Ophthalmol, vol. 241, pp. 582-584, July 2003.
6. M. K. Tsilimbaris, E. S. Lit, and D. J. D'Amico, "Retinal microvascular surgery: A feasibility study," Invest Ophthalmol Vis Sci, vol. 45, no. 6, pp. 1963-1968, June 2004.
7. H. Das, H. Zak, J. Johnson, J. Crouch, and D. Frambach, "Evaluation of a telerobotic system to assist surgeons in microsurgery," Comput Aided Surg, vol. 4, no. I, pp. 15-25, 1999.
8. P. S. Schenker, E. C. Barlow, C. D. Boswell, H. Das, S. Lee, T. R. Ohm, E. D. Paljug, G. Rodriguez, and S. T. Charles, "Development of a telemanipulator for dexterity enhanced microsurgery," in Proc. 2nd Int Symp Med Rob Comput Asst Surg, 1995, pp. 81-88.
9. I. W. Hunter, T. D. Doukoglou, S. R. Lafontaine, P. G. Charette, L. A. Jones, M. A. Sagar, G. D. Mallinson, and P. J. Hunter, "A teleoperated microsurgical robot and associated virtual environment for eye surgery," Presence, vol. 2, no. 4, pp. 265-280, 1993.
10. I. W. Hunter, L. A. Jones, M. A. Sagar, S. R. Lafontaine, and P. J. Hunter, "Opthalmic microsurgical robot and associated virtual environment," Com put Bioi Med, vol. 25, no. 2, pp. 173-182, March 1995.
11. T. Ueta, Y. Yamaguchi, Y. Shirakawa, T. Nakano, R. Ideta, Y. Noda, A. Morita, R. Mochizuki, N. Sugita, M. Mituishi, and Y. Tamaki, "Robot-assisted vitreoretinal surgery: Development of a prototype and feasibility studies in an animal model," Ophthalmology, vol. 116, no. 8, pp. 1538-1543, Aug. 2009.
12. H. Das, H. Zak, J. Johnson, J. Crouch, and D. Frambach, "Evaluation of a telerobotic system to assist surgeons in microsurgery," Comput Aided Surg ,vol. 4, no. I, pp. 15-25, 1999.
13. P.S. Jensen, K. W. Grace, R. Attariwala, J. E. Colgate, and M. R. Glucksberg, "Toward robot-assisted vascular microsurgery in the retina," Graefes Arch Clin Exp Ophthalmol, vol. 235, no. 11, pp. 696-701, Nov. 1997.
14. A. P. Mulgaonkar, J. P. Hubschman, J. L. Bourges, B. L. Jordan, C. Cham, J. T. Wilson, T. C. Tsao, and M. O. Culjat, "A prototype surgical manipulator for robotic intraocular micro surgery," Stud Health Technol Inform, vol. 142, pp. 215-217,2009.
15. A. Uneri, M. A. Balicki, J. Handa, P. Gehlbach, R. H. Taylor, and I. Iordachita, "New steady-hand Eye Robot with micro-force sensing for vitreoretinal surgery," in Proc. 3rd IEEE RAS EMBS Int Conf Biomed Robot Biomechatron (BioRob), 2010, pp.814-819.
16. R. A. MacLachlan, B. C. Becker, J. Cuevas Tabares, G. W. Podnar, L. A. Lobes, and C. N. Riviere, "Micron: an actively stabilized handheld tool for microsurgery, " IEEE Trans Robot, vol.28, no.1, pp.195-212, Feb. 2012.
17. S. E. Salcudean, S. Ku, and G. Bell, "Performance measurement in scaled teleoperation for microsurgery," in Proc. CVRMedMRCAS' 97, 1997, pp. 789-798.
18. T. Tokuyasu, and T. Kitamura, "A study on minute torque transmission for tele microsurgery," in Proc. JSME Corif. Robotics and Mechatronics (ROBOMEC'Ol), Takamatsu, Japan, 2001.
19. Y. Zhou, B. J. Nelson, and B. Vikramaditya, "Fusing force and vision feedback for micromanipulation," in Proc. IEEE Int. Conf Robot. Autom., Leuven, Belgium, 1998, pp. 1220-1225.
20. R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar, D. Stoianovici, P. Gupta, Z. Wang, E. deJuan, and L. Kavoussi, "A steady-hand robotic system for microsurgical augmentation," in Proc. MICCAI, 1999, pp. 1031-1041.
21. B. Mitchell, J. Koo, M. Iordachita, P. Kazanzides, A. Kapoor, J. Handa, G. Hager, and R. Taylor, "Development and application of a new steady-hand manipulator for retinal surgery," in Proc. IEEE ICRA,2007,pp. 623-629.
22. P. Gupta, P. Jensen, and E. de Juan, "Surgical forces and tactile perception during retinal microsurgery," in Proc. MICCAI'99, 1999, pp. 1218-1225.
23. P. J. Berkelman, L. L. Whitcomb, R. H. Taylor, and P. Jensen, "A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation," IEEE Trans. Robotics and Automation, vol. 19, no. 5, pp. 917-921, Oct. 2003.
24. P. J. Berkelman, L. L. Whitcomb, R. H. Taylor, and P. Jensen, "A miniature instrument tip force sensor for robotlhuman cooperative microsurgical manipulation with enhanced force feedback," Medical Image Computing and Computer-Assisted Interventions, vol. 1935, pp. 247-286, 2000.
25. D. Jagtap, and C. N. Riviere "Applied force during vitreoretinal microsurgery with handheld instruments," in Proc. 26th IEEE engineering in medicine and biology coriference (EMBS), San Francisco, 2004, pp. 2771-2773.
26. I. Iordachita, Z. Sun, M. Balicki, J. Kang, S. Phee, J. Handa, P. Gehlbach, and R. Taylor, "A sub-millimetric, 0.25 mn resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery," International Journal of Computer Assisted Radiology and Surgery (IJCARS), vol. 4, no. 4, pp. 383-390, June 2009.
27. M. Kitagawa, D. Dokko, A. Okamura, and D. Yuh, "Effect of sensory substitution on suture manipulation forces for robotic surgical systems," J Thorac Cardiovasc Surg, vol. 129, no. 1, pp. 151-158, Jan. 2005.
28. R. N. Stiles, "Mechanical and neural feedback factors in postural hand tremor of normal subjects, "J. Neurophysiol., vol. 44, pp. 40-59, July 1980.
29. M. Balicki, A. Uneri, I. Iordachita, J. Handa, P. Gehlbach, and R. Taylor, "Micro-force Sensing in Robot Assisted Membrane Peeling for Vitreoretinal Surgery," Med Image Comput Comput Assist Interv., vol. 13(Pt 3), pp. 303-310,2010.