A Comparative Study for Robot Assisted Vitreoretinal Surgery: Micron vs. the Steady-Hand Robot.
A Comparative Study for Robot Assisted Vitreoretinal Surgery: Micron vs. the Steady-Hand Robot.
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DOI：
10.1109/icra.2013.6631266
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Iordachita I
中科院分区：
文献类型：
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作者：
Gonenc B;Handa J;Gehlbach P;Taylor RH;Iordachita I
在玻璃体视网膜手术中，由于手震颤而导致的过度施力和无意运动容易导致严重的并发症。当与工具到组织的力感测能力相结合时，机器人辅助具有改善这种实践的显著潜力。在本文中，我们评估了单个用户对于两种具有集成力传感功能的不同机器人系统（Micron和Steady-Hand Robot）的膜剥离性能。我们表明，这些系统提供了有前途的性能改善剥离力和类似的震颤消除趋势的影响。
In vitreoretinal surgery, application of excessive forces and unintentional motion due to hand-tremor can easily result in serious complications. Robotic assistance when combined with tool-to-tissue force sensing capabilities has significant potential to improve such practice. In this paper, we evaluate the membrane peeling performance of a single user for two distinct robotic systems with integrated force sensing capabilities: Micron and the Steady-Hand Robot. We show that these systems provide promising performance improvement with similar impact on peeling forces and comparable tremor cancellation trends.