New Steady-Hand Eye Robot with Micro-Force Sensing for Vitreoretinal Surgery.
New Steady-Hand Eye Robot with Micro-Force Sensing for Vitreoretinal Surgery.
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DOI：
10.1109/biorob.2010.5625991
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发表时间：
2010-09-01
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：
Uneri A;Balicki MA;Handa J;Gehlbach P;Taylor RH;Iordachita I
在视网膜显微外科手术中，外科医生被要求进行微米级的操作，同时安全地对低于感官知觉的视网膜组织施力。到目前为止，由于人类对工具控制的限制以及缺乏与手术兼容的终点传感仪器，对这一脆弱组织的实时表征和精确操作一直受到阻碍。在这里，我们提出了一种新一代协同控制的显微手术机器人的设计，该机器人具有远程运动中心(RCM)机制和集成的定制微力传感手术钩。利用末端执行器测得的力，对刀具的偏转进行修正，实现微力引导的协同控制算法，主动指导操作者。已经进行了初步实验，以测试我们的新控制方法在生鸡蛋内壳膜上，并捕捉与精细组织操作相关的有用的动态特性。
In retinal microsurgery, surgeons are required to perform micron scale maneuvers while safely applying forces to the retinal tissue that are below sensory perception. Real-time characterization and precise manipulation of this delicate tissue has thus far been hindered by human limits on tool control and the lack of a surgically compatible endpoint sensing instrument. Here we present the design of a new generation, cooperatively controlled microsurgery robot with a remote center-of-motion (RCM) mechanism and an integrated custom micro-force sensing surgical hook. Utilizing the forces measured by the end effector, we correct for tool deflections and implement a micro-force guided cooperative control algorithm to actively guide the operator. Preliminary experiments have been carried out to test our new control methods on raw chicken egg inner shell membranes and to capture useful dynamic characteristics associated with delicate tissue manipulations.