Paper Info
Title
Motorized Force-Sensing Micro-Forceps with Tremor Cancelling and Controlled Micro-Vibrations for Easier Membrane Peeling.
Abstract
Retinal microsurgery requires the manipulation of extremely delicate tissues by various micron scale maneuvers and the application of very small forces. Among vitreoretinal procedures, membrane peeling is a standard procedure requiring the delamination of a very thin fibrous membrane on the retina surface. This study presents the development and evaluation of an integrated assistive system for membrane peeling. This system combines a force-sensing motorized micro-forceps with an active tremor-canceling handheld micromanipulator, Micron. The proposed system (1) attenuates hand-tremor when accurate positioning is needed, (2) provides auditory force feedback to keep the exerted forces at a safe level, and (3) pulsates the tool tip at high frequency to provide ease in delaminating membranes. Experiments on bandages and raw chicken eggs have revealed that controlled micro-vibrations provide significant ease in delaminating membranes. Applying similar amount of forces, much faster delamination was observed when the frequency of these vibrations were increased (up to 50 Hz).
Year
DOI
Venue
2014
10.1109/BIOROB.2014.6913784
BioRob
Keywords
Field
DocType
surgery,force,sensors
Fibrous membrane,Biomedical engineering,Micrometre,Forceps,Optics,Membrane,Vibration,Engineering,Micromanipulator,Haptic technology,Delamination
Conference
Volume
ISSN
Citations 
2014
2155-1774
4
PageRank 
References 
Authors
0.45
12
5
Name
Order
Citations
PageRank
Gonenc Berk1222.24
Peter Gehlbach211916.50
Handa James340.45
Russell H. Taylor41970438.00
Iordachita Iulian5253.01