The Experts below are selected from a list of 255 Experts worldwide ranked by ideXlab platform
Iulian Iordachita - One of the best experts on this subject based on the ideXlab platform.
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Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020Co-Authors: Changyan He, Peter Gehlbach, Ali Ebrahimi, Emily Yang, Muller Urias, Yang Yang, Iulian IordachitaAbstract:Retinal vein cannulation is a promising approach for treating retinal vein occlusion that involves injecting medicine into the occluded vessel to dissolve the clot. The approach remains largely unexploited clinically due to surgeon limitations in detecting interaction forces between surgical tools and retinal tissue. In this paper, a dual force constraint controller for robot-assisted retinal surgery was presented to keep the tool-to-vessel forces and tool-to-sclera forces below prescribed thresholds. A cannulation tool and Forceps with dual force-sensing capability were developed and used to measure force information fed into the robot controller, which was implemented on existing Steady Hand Eye Robot platforms. The robotic system facilitates retinal vein cannulation by allowing a user to grasp the target vessel with the Forceps and then enter the vessel with the cannula. The system was evaluated on an eye phantom. The results showed that, while the eyeball was subjected to rotational disturbances, the proposed controller actuates the robotic manipulators to maintain the average tool-to-vessel force at 10.9 mN and 13.1 mN and the average tool-to-sclera force at 38.1 mN and 41.2 mN for the cannula and the forcpes, respectively. Such small tool-to-tissue forces are acceptable to avoid retinal tissue injury. Additionally, two clinicians participated in a preliminary user study of the bimanual cannulation demonstrating that the operation time and tool-to-tissue forces are significantly decreased when using the bimanual robotic system as compared to freehand performance.
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FBG-based transverse and axial force-sensing micro-Forceps for retinal microsurgery
Proceedings of IEEE Sensors, 2017Co-Authors: Berk Gonenc, Iulian IordachitaAbstract:© 2016 IEEE. Retinal microsurgery routinely requires the manipulation of extremely delicate tissues. Membrane peeling is a prototypical task where a layer of fibrous tissue is delaminated off the retina with a micro-Forceps by applying very fine forces that are mostly imperceptible to the surgeon. Previously we developed sensitized ophthalmic surgery tools that can precisely detect the transverse forces at the instrument's tip via integrated fiber Bragg grating strain sensors. This paper presents a new design that employs an additional sensor to capture also the tensile force along the tool axis which can be significant in membrane peeling. We investigate two distinct fitting methods to compute the transverse and axial forces based on sensor outputs. Validation with random samples shows that the linear method closely predicts the transverse force but does not provide sufficient accuracy in computing the axial load. Our nonlinear method resolves this problem, providing a more consistent and accurate measurement of both the transverse and axial forces.
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3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery
IEEE Sensors Journal, 2017Co-Authors: Berk Gonenc, Alireza Chamani, Russell Taylor, James Handa, Peter Gehlbach, Iulian IordachitaAbstract:© 2001-2012 IEEE. In vitreoretinal surgery, membrane peeling is a prototypical task where a layer of fibrous tissue is delaminated off the retina with a micro-Forceps by applying very fine forces that are mostly imperceptible to the surgeon. Previously, we developed sensitized ophthalmic surgery tools based on fiber Bragg grating strain sensors, which were shown to precisely detect forces at the instru ment's tip in two degrees of freedom perpendicular to the tool axis. This paper presents a new design that employs an additional sensor to capture also the tensile force along the tool axis. The grasping functionality is provided via a compact motorized unit. To compute forces, we investigate two distinct fitting methods: a linear regression and a nonlinear fitting based on second-order Bernstein polynomials. We carry out experiments to test the repeatability of sensor outputs, calibrate the sensor, and validate its performance. Results demonstrate sensor wavelength repeatability within 2 pm. Although the linear method provides sufficient accuracy in measuring transverse forces, in the axial direction, it produces a root mean square (rms) error over 3 mN even for a confined magnitude and direction of forces. On the other hand, the nonlinear method provides a more consistent and accurate measurement of both the transverse and axial forces for the entire force range (0-25 mN). Validation, including random samples, shows that our tool with the nonlinear force computation method can predict 3-D forces with an rms error under 0.15 mN in the transverse plane and within 2 mN accuracy in the axial direction.
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3-DOF force-sensing micro-Forceps for robot-Assisted membrane peeling: Intrinsic actuation force modeling
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2016Co-Authors: Anzhu Gao, Jiangzhen Guo, Berk Gonenc, Peter Gehlbach, Hao Liu, Iulian IordachitaAbstract:Membrane peeling is a challenging procedure in retinal microsurgery, requiring careful manipulation of delicate tissues by using a micro-Forceps and exerting very fine forces that are mostly imperceptible to the surgeon. Previously, we developed a micro-Forceps with three integrated fiber Bragg grating (FBG) sensors to sense the lateral forces at the instrument's tip. However, importantly this architecture was insufficient to sense the tissue pulling forces along the Forceps axis, which may be significant during membrane peeling. Our previous 3-DOF force sensing solutions developed for pick tools are not appropriate for Forceps tools due to the motion and intrinsic forces that develop while opening/closing the Forceps jaws. This paper presents a new design that adds another FBG attached to the Forceps jaws to measure the axial loads. This involves not only the external tool-To-Tissue interactions that we need to measure, but also the adverse effect of intrinsic actuation forces that arise due to the elastic deformation of jaws and friction. In this study, through experiments and finite element analyses, we model the intrinsic actuation force. We investigate the effect of the coefficient of friction and material type (stainless steel, titanium, nitinol) on this model. Then, the obtained model is used to separate the axial tool-To-Tissue forces from the raw sensor measurements. Preliminary experiments and simulation results indicate that the developed linear model based on the actuation displacement is feasible to accurately predict the axial forces at the tool tip.
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motorized force sensing micro Forceps with tremor cancelling and controlled micro vibrations for easier membrane peeling
IEEE International Conference on Biomedical Robotics and Biomechatronics, 2014Co-Authors: Berk Gonenc, Peter Gehlbach, Russell H. Taylor, James T Handa, Iulian IordachitaAbstract: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).
Garnette R. Sutherland - One of the best experts on this subject based on the ideXlab platform.
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Real-time measurement of tool-tissue interaction forces in neurosurgery: Quantification and analysis
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016Co-Authors: Yaser Maddahi, Kourosh Zareinia, Jordan Huang, Jade Huang, Hamidreza Hoshyarmanesh, Garnette R. SutherlandAbstract:Understanding the amount of forces exerted to the brain tissue during the performance of surgical tasks in neurosurgery is critical for educating trainees. Quantifying such forces can help trainees gain important information about the appropriate amount of force required to safely, yet effectively, complete microsurgical tasks. This paper reports the amount of forces exerted during the performance of neurosurgical tasks by means of a force-sensing bipolar Forceps, retrofitted by a set of force sensing components. An experienced surgeon and a surgical team conducted a variety of microsurgical tasks on a cadaver brain using the developed instrumented bipolar Forceps, while the forces of dissections were measured real-time. Results showed that depending on the surgical task, the peak (effective) value of dissection forces varied between 0.50 N and 1.84 N. Correlation between calculated force signals, during performance of different trials for the same task was investigated using cross correlation test. Results indicated a strong link between the forces measured in different trials.
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AIM - Real-time measurement of tool-tissue interaction forces in neurosurgery: Quantification and analysis
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016Co-Authors: Yaser Maddahi, Kourosh Zareinia, Jordan Huang, Jade Huang, Hamidreza Hoshyarmanesh, Garnette R. SutherlandAbstract:Understanding the amount of forces exerted to the brain tissue during the performance of surgical tasks in neurosurgery is critical for educating trainees. Quantifying such forces can help trainees gain important information about the appropriate amount of force required to safely, yet effectively, complete microsurgical tasks. This paper reports the amount of forces exerted during the performance of neurosurgical tasks by means of a force-sensing bipolar Forceps, retrofitted by a set of force sensing components. An experienced surgeon and a surgical team conducted a variety of microsurgical tasks on a cadaver brain using the developed instrumented bipolar Forceps, while the forces of dissections were measured real-time. Results showed that depending on the surgical task, the peak (effective) value of dissection forces varied between 0.50 N and 1.84 N. Correlation between calculated force signals, during performance of different trials for the same task was investigated using cross correlation test. Results indicated a strong link between the forces measured in different trials.
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Quantifying force and positional frequency bands in neurosurgical tasks
Journal of Robotic Surgery, 2016Co-Authors: Yaser Maddahi, Kourosh Zareinia, Ahmad Ghasemloonia, Nariman Sepehri, Garnette R. SutherlandAbstract:To establish the design requirements for an MR-compatible haptic hand-controller, this paper measures magnitudes and frequency bands of three mechanical motion and interaction components during the performance of neurosurgical tasks on a cadaveric brain. The hand-controller would allow the performance of virtual neurosurgical tasks within the bore of a high field magnet during image acquisition, i.e., functional MRI. The components are the position and the orientation of a surgical tool, and the force interaction between the tool and the brain tissue. A bipolar Forceps was retrofitted with a tracking system and a set of force sensing components to measure displacements and forces, respectively. Results showed working positional, rotational, and force frequency bands of 3, 3 and 5 Hz, respectively. Peak forces of 1.4, 2.9 and 3.0 N were measured in the Cartesian coordinate system. A workspace of 50.1 × 39.8 × 58.2 mm^3 and orientation ranges of 40.4°, 60.1° and 63.1° for azimuth, elevation, and roll angles were observed. The results contribute in providing information specific to neurosurgery that can be used to effectively design a compact and customized haptic hand-controller reflecting characteristics of neurosurgical tasks.
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a force sensing bipolar Forceps to quantify tool tissue interaction forces in microsurgery
IEEE-ASME Transactions on Mechatronics, 2016Co-Authors: Kourosh Zareinia, Yaser Maddahi, Ahmad Ghasemloonia, Sanju Lama, Taku Sugiyama, Fang Wei Yang, Garnette R. SutherlandAbstract:The ability to exert an appropriate amount of force on brain tissue during surgery is an important component of instrument handling. It allows surgeons to achieve the surgical objective effectively while maintaining a safe level of force in tool–tissue interaction. At the present time, this knowledge, and hence skill, is acquired through experience and is qualitatively conveyed from an expert surgeon to trainees. These forces can be assessed quantitatively by retrofitting surgical tools with sensors, thus providing a mechanism for improved performance and safety of surgery, and enhanced surgical training. This paper presents the development of a force-sensing bipolar Forceps, with installation of a sensory system, that is able to measure and record interaction forces between the Forceps tips and brain tissue in real time. This research is an extension of a previous research where a bipolar Forceps was instrumented to measure dissection and coagulation forces applied in a single direction. Here, a planar Forceps with two sets of strain gauges in two orthogonal directions was developed to enable measuring the forces with a higher accuracy. Implementation of two strain gauges allowed compensation of strain values due to deformations of the Forceps in other directions (axial stiffening) and provided more accurate forces during microsurgery. An experienced neurosurgeon performed five neurosurgical tasks using the axial setup and repeated the same tasks using the planar device. The experiments were performed on cadaveric brains. Both setups were shown to be capable of measuring real-time interaction forces. Comparing the two setups, under the same experimental condition, indicated that the peak and mean forces quantified by planar Forceps were at least 7% and 10% less than those of axial tool, respectively; therefore, utilizing readings of all strain gauges in planar Forceps provides more accurate values of both peak and mean forces than axial Forceps. Cross-correlation analysis between the two force signals obtained, one from each cadaveric practice, showed a high similarity between the two force signals.
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A Force-Sensing Bipolar Forceps to Quantify Tool–Tissue Interaction Forces in Microsurgery
IEEE ASME Transactions on Mechatronics, 2016Co-Authors: Kourosh Zareinia, Yaser Maddahi, Ahmad Ghasemloonia, Sanju Lama, Taku Sugiyama, Fang Wei Yang, Garnette R. SutherlandAbstract:The ability to exert an appropriate amount of force on brain tissue during surgery is an important component of instrument handling. It allows surgeons to achieve the surgical objective effectively while maintaining a safe level of force in tool-tissue interaction. At the present time, this knowledge, and hence skill, is acquired through experience and is qualitatively conveyed from an expert surgeon to trainees. These forces can be assessed quantitatively by retrofitting surgical tools with sensors, thus providing a mechanism for improved performance and safety of surgery, and enhanced surgical training. This paper presents the development of a force-sensing bipolar Forceps, with installation of a sensory system, that is able to measure and record interaction forces between the Forceps tips and brain tissue in real time. This research is an extension of a previous research where a bipolar Forceps was instrumented to measure dissection and coagulation forces applied in a single direction. Here, a planar Forceps with two sets of strain gauges in two orthogonal directions was developed to enable measuring the forces with a higher accuracy. Implementation of two strain gauges allowed compensation of strain values due to deformations of the Forceps in other directions (axial stiffening) and provided more accurate forces during microsurgery. An experienced neurosurgeon performed five neurosurgical tasks using the axial setup and repeated the same tasks using the planar device. The experiments were performed on cadaveric brains. Both setups were shown to be capable of measuring real-time interaction forces. Comparing the two setups, under the same experimental condition, indicated that the peak and mean forces quantified by planar Forceps were at least 7% and 10% less than those of axial tool, respectively; therefore, utilizing readings of all strain gauges in planar Forceps provides more accurate values of both peak and mean forces than axial Forceps. Cross-correlation analysis between the two force signals obtained, one from each cadaveric practice, showed a high similarity between the two force signals.
Peter Gehlbach - One of the best experts on this subject based on the ideXlab platform.
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Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020Co-Authors: Changyan He, Peter Gehlbach, Ali Ebrahimi, Emily Yang, Muller Urias, Yang Yang, Iulian IordachitaAbstract:Retinal vein cannulation is a promising approach for treating retinal vein occlusion that involves injecting medicine into the occluded vessel to dissolve the clot. The approach remains largely unexploited clinically due to surgeon limitations in detecting interaction forces between surgical tools and retinal tissue. In this paper, a dual force constraint controller for robot-assisted retinal surgery was presented to keep the tool-to-vessel forces and tool-to-sclera forces below prescribed thresholds. A cannulation tool and Forceps with dual force-sensing capability were developed and used to measure force information fed into the robot controller, which was implemented on existing Steady Hand Eye Robot platforms. The robotic system facilitates retinal vein cannulation by allowing a user to grasp the target vessel with the Forceps and then enter the vessel with the cannula. The system was evaluated on an eye phantom. The results showed that, while the eyeball was subjected to rotational disturbances, the proposed controller actuates the robotic manipulators to maintain the average tool-to-vessel force at 10.9 mN and 13.1 mN and the average tool-to-sclera force at 38.1 mN and 41.2 mN for the cannula and the forcpes, respectively. Such small tool-to-tissue forces are acceptable to avoid retinal tissue injury. Additionally, two clinicians participated in a preliminary user study of the bimanual cannulation demonstrating that the operation time and tool-to-tissue forces are significantly decreased when using the bimanual robotic system as compared to freehand performance.
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3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery
IEEE Sensors Journal, 2017Co-Authors: Berk Gonenc, Alireza Chamani, Russell Taylor, James Handa, Peter Gehlbach, Iulian IordachitaAbstract:© 2001-2012 IEEE. In vitreoretinal surgery, membrane peeling is a prototypical task where a layer of fibrous tissue is delaminated off the retina with a micro-Forceps by applying very fine forces that are mostly imperceptible to the surgeon. Previously, we developed sensitized ophthalmic surgery tools based on fiber Bragg grating strain sensors, which were shown to precisely detect forces at the instru ment's tip in two degrees of freedom perpendicular to the tool axis. This paper presents a new design that employs an additional sensor to capture also the tensile force along the tool axis. The grasping functionality is provided via a compact motorized unit. To compute forces, we investigate two distinct fitting methods: a linear regression and a nonlinear fitting based on second-order Bernstein polynomials. We carry out experiments to test the repeatability of sensor outputs, calibrate the sensor, and validate its performance. Results demonstrate sensor wavelength repeatability within 2 pm. Although the linear method provides sufficient accuracy in measuring transverse forces, in the axial direction, it produces a root mean square (rms) error over 3 mN even for a confined magnitude and direction of forces. On the other hand, the nonlinear method provides a more consistent and accurate measurement of both the transverse and axial forces for the entire force range (0-25 mN). Validation, including random samples, shows that our tool with the nonlinear force computation method can predict 3-D forces with an rms error under 0.15 mN in the transverse plane and within 2 mN accuracy in the axial direction.
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3-DOF force-sensing micro-Forceps for robot-Assisted membrane peeling: Intrinsic actuation force modeling
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2016Co-Authors: Anzhu Gao, Jiangzhen Guo, Berk Gonenc, Peter Gehlbach, Hao Liu, Iulian IordachitaAbstract:Membrane peeling is a challenging procedure in retinal microsurgery, requiring careful manipulation of delicate tissues by using a micro-Forceps and exerting very fine forces that are mostly imperceptible to the surgeon. Previously, we developed a micro-Forceps with three integrated fiber Bragg grating (FBG) sensors to sense the lateral forces at the instrument's tip. However, importantly this architecture was insufficient to sense the tissue pulling forces along the Forceps axis, which may be significant during membrane peeling. Our previous 3-DOF force sensing solutions developed for pick tools are not appropriate for Forceps tools due to the motion and intrinsic forces that develop while opening/closing the Forceps jaws. This paper presents a new design that adds another FBG attached to the Forceps jaws to measure the axial loads. This involves not only the external tool-To-Tissue interactions that we need to measure, but also the adverse effect of intrinsic actuation forces that arise due to the elastic deformation of jaws and friction. In this study, through experiments and finite element analyses, we model the intrinsic actuation force. We investigate the effect of the coefficient of friction and material type (stainless steel, titanium, nitinol) on this model. Then, the obtained model is used to separate the axial tool-To-Tissue forces from the raw sensor measurements. Preliminary experiments and simulation results indicate that the developed linear model based on the actuation displacement is feasible to accurately predict the axial forces at the tool tip.
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motorized force sensing micro Forceps with tremor cancelling and controlled micro vibrations for easier membrane peeling
IEEE International Conference on Biomedical Robotics and Biomechatronics, 2014Co-Authors: Berk Gonenc, Peter Gehlbach, Russell H. Taylor, James T Handa, Iulian IordachitaAbstract: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).
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Towards robot-assisted vitreoretinal surgery: Force-sensing micro-Forceps integrated with a handheld micromanipulator
Proceedings - IEEE International Conference on Robotics and Automation, 2014Co-Authors: Berk Gonenc, Ellen Feldman, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian IordachitaAbstract:In vitreoretinal practice, controlled tremor-free motion and limitation of applied forces to the retina are two highly desired features. This study addresses both requirements with a new integrated system: a force-sensing motorized micro-Forceps combined with an active tremor-canceling handheld micromanipulator, known as Micron. The micro-Forceps is a 20 Ga instrument that is mechanically decoupled from its handle and senses the transverse forces at its tip with an accuracy of 0.3 mN. Membrane peeling trials on a bandage phantom revealed a 60-95% reduction in the 2-20 Hz band in both the tip force and position spectra, while peeling forces remained below the set safety threshold.
Berk Gonenc - One of the best experts on this subject based on the ideXlab platform.
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FBG-based transverse and axial force-sensing micro-Forceps for retinal microsurgery
Proceedings of IEEE Sensors, 2017Co-Authors: Berk Gonenc, Iulian IordachitaAbstract:© 2016 IEEE. Retinal microsurgery routinely requires the manipulation of extremely delicate tissues. Membrane peeling is a prototypical task where a layer of fibrous tissue is delaminated off the retina with a micro-Forceps by applying very fine forces that are mostly imperceptible to the surgeon. Previously we developed sensitized ophthalmic surgery tools that can precisely detect the transverse forces at the instrument's tip via integrated fiber Bragg grating strain sensors. This paper presents a new design that employs an additional sensor to capture also the tensile force along the tool axis which can be significant in membrane peeling. We investigate two distinct fitting methods to compute the transverse and axial forces based on sensor outputs. Validation with random samples shows that the linear method closely predicts the transverse force but does not provide sufficient accuracy in computing the axial load. Our nonlinear method resolves this problem, providing a more consistent and accurate measurement of both the transverse and axial forces.
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3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery
IEEE Sensors Journal, 2017Co-Authors: Berk Gonenc, Alireza Chamani, Russell Taylor, James Handa, Peter Gehlbach, Iulian IordachitaAbstract:© 2001-2012 IEEE. In vitreoretinal surgery, membrane peeling is a prototypical task where a layer of fibrous tissue is delaminated off the retina with a micro-Forceps by applying very fine forces that are mostly imperceptible to the surgeon. Previously, we developed sensitized ophthalmic surgery tools based on fiber Bragg grating strain sensors, which were shown to precisely detect forces at the instru ment's tip in two degrees of freedom perpendicular to the tool axis. This paper presents a new design that employs an additional sensor to capture also the tensile force along the tool axis. The grasping functionality is provided via a compact motorized unit. To compute forces, we investigate two distinct fitting methods: a linear regression and a nonlinear fitting based on second-order Bernstein polynomials. We carry out experiments to test the repeatability of sensor outputs, calibrate the sensor, and validate its performance. Results demonstrate sensor wavelength repeatability within 2 pm. Although the linear method provides sufficient accuracy in measuring transverse forces, in the axial direction, it produces a root mean square (rms) error over 3 mN even for a confined magnitude and direction of forces. On the other hand, the nonlinear method provides a more consistent and accurate measurement of both the transverse and axial forces for the entire force range (0-25 mN). Validation, including random samples, shows that our tool with the nonlinear force computation method can predict 3-D forces with an rms error under 0.15 mN in the transverse plane and within 2 mN accuracy in the axial direction.
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3-DOF force-sensing micro-Forceps for robot-Assisted membrane peeling: Intrinsic actuation force modeling
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2016Co-Authors: Anzhu Gao, Jiangzhen Guo, Berk Gonenc, Peter Gehlbach, Hao Liu, Iulian IordachitaAbstract:Membrane peeling is a challenging procedure in retinal microsurgery, requiring careful manipulation of delicate tissues by using a micro-Forceps and exerting very fine forces that are mostly imperceptible to the surgeon. Previously, we developed a micro-Forceps with three integrated fiber Bragg grating (FBG) sensors to sense the lateral forces at the instrument's tip. However, importantly this architecture was insufficient to sense the tissue pulling forces along the Forceps axis, which may be significant during membrane peeling. Our previous 3-DOF force sensing solutions developed for pick tools are not appropriate for Forceps tools due to the motion and intrinsic forces that develop while opening/closing the Forceps jaws. This paper presents a new design that adds another FBG attached to the Forceps jaws to measure the axial loads. This involves not only the external tool-To-Tissue interactions that we need to measure, but also the adverse effect of intrinsic actuation forces that arise due to the elastic deformation of jaws and friction. In this study, through experiments and finite element analyses, we model the intrinsic actuation force. We investigate the effect of the coefficient of friction and material type (stainless steel, titanium, nitinol) on this model. Then, the obtained model is used to separate the axial tool-To-Tissue forces from the raw sensor measurements. Preliminary experiments and simulation results indicate that the developed linear model based on the actuation displacement is feasible to accurately predict the axial forces at the tool tip.
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motorized force sensing micro Forceps with tremor cancelling and controlled micro vibrations for easier membrane peeling
IEEE International Conference on Biomedical Robotics and Biomechatronics, 2014Co-Authors: Berk Gonenc, Peter Gehlbach, Russell H. Taylor, James T Handa, Iulian IordachitaAbstract: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).
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Towards robot-assisted vitreoretinal surgery: Force-sensing micro-Forceps integrated with a handheld micromanipulator
Proceedings - IEEE International Conference on Robotics and Automation, 2014Co-Authors: Berk Gonenc, Ellen Feldman, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian IordachitaAbstract:In vitreoretinal practice, controlled tremor-free motion and limitation of applied forces to the retina are two highly desired features. This study addresses both requirements with a new integrated system: a force-sensing motorized micro-Forceps combined with an active tremor-canceling handheld micromanipulator, known as Micron. The micro-Forceps is a 20 Ga instrument that is mechanically decoupled from its handle and senses the transverse forces at its tip with an accuracy of 0.3 mN. Membrane peeling trials on a bandage phantom revealed a 60-95% reduction in the 2-20 Hz band in both the tip force and position spectra, while peeling forces remained below the set safety threshold.
Pelin Batur - One of the best experts on this subject based on the ideXlab platform.
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Forces in surgical tools: comparison between laparoscopic and surgical Forceps
Proceedings of 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 1996Co-Authors: V. Gupta, N. P. Reddy, Pelin BaturAbstract:Minimally Invasive Surgery (MIS) has given a new dimension to the\nfield of surgery. However, there are several reports of injuries to the\npatient during laparoscopic surgeries that do not occur during\nconventional surgery. Also, the surgeons are trained in conventional\nsurgery using conventional surgical tools. Therefore, there is a need to\nfirst quantitatively compare the laparoscopic and conventional surgical\ntools. The purpose of the present investigation was to determine if the\nforces applied on laparoscopic Forceps are the same as those applied on\nconventional surgical Forceps. The results of the study indicated that\nthe handle forces, tip forces, and the muscle forces while manipulating\nlaparoscopic Forceps were significantly different from those while\nmanipulating conventional surgical Forceps (p⩽0.005)
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Forces in surgical tools: comparison between laparoscopic and surgical Forceps
Proceedings of 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 1996Co-Authors: V. Gupta, N. P. Reddy, Pelin BaturAbstract:Minimally Invasive Surgery (MIS) has given a new dimension to the field of surgery. However, there are several reports of injuries to the patient during laparoscopic surgeries that do not occur during conventional surgery. Also, the surgeons are trained in conventional surgery using conventional surgical tools. Therefore, there is a need to first quantitatively compare the laparoscopic and conventional surgical tools. The purpose of the present investigation was to determine if the forces applied on laparoscopic Forceps are the same as those applied on conventional surgical Forceps. The results of the study indicated that the handle forces, tip forces, and the muscle forces while manipulating laparoscopic Forceps were significantly different from those while manipulating conventional surgical Forceps (p/spl les/0.005).
