Name
Abstract | ||
|---|---|---|
This paper describes the development and initial testing of a new and optimized version of a steady-hand manip- ulator for retinal microsurgery. In the steady-hand paradigm, the surgeon and the robot share control of a tool attached to the robot through a force sensor. The robot controller senses forces exerted by the operator on the tool and uses this information in various control modes to provide smooth, tremor-free, precise positional control and force scaling. The steady-hand manipulator reported here has been specifically designed with the unique constraints of retinal microsurgery in mind. In particular, the system makes use of a compact wrist design that places the bulk of the robot away from the operating field. The resulting system has high efficacy, flexibility and ergonomics while meeting the accuracy and safety requirements of microsurgery. We have now tested this robot on a biological model system and we report a protocol for reliably cannulating 80 µm OD veins (the size of veins in the human retina) using the system. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBOT.2007.363056 | Roma |
Keywords | Field | DocType |
eye,force control,force sensors,medical robotics,micromanipulators,position control,surgery,ergonomics,flexibility,force scaling,force sensor,positional control,retinal microsurgery,safety requirements,steady-hand manipulator,wrist design | Force sensor,Robot control,Retinal surgery,Robot controller,Medical robotics,Simulation,Manipulator,Biological modeling,Control engineering,Engineering,Robot | Conference |
Volume | Issue | ISSN |
2007 | 1 | 1050-4729 E-ISBN : 1-4244-0602-1 |
ISBN | Citations | PageRank |
1-4244-0602-1 | 40 | 4.24 |
References | Authors | |
8 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| B. Greg Mitchell | 1 | 60 | 7.81 |
| Koo, J. | 2 | 40 | 4.24 |
| Iordachita, M. | 3 | 40 | 4.24 |
| Peter Kazanzides | 4 | 584 | 96.63 |