The Experts below are selected from a list of 324 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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development of a miniaturized 3 dof force Sensing Instrument for robotically assisted retinal microsurgery and preliminary results
IEEE International Conference on Biomedical Robotics and Biomechatronics, 2014Co-Authors: Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Lack of force Sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force Sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force Sensing Instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force Sensing sensitivity and low crosstalk noise. The force Sensing segment of the tool, located directly proximal to the tool tip, is 00.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force Sensing. Analysis of the experiment results suggests improvements for the future iteration.
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a multi function force Sensing Instrument for variable admittance robot control in retinal microsurgery
International Conference on Robotics and Automation, 2014Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force Sensing ophthalmic Instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function Instrument that is capable of measuring mN-level forces at the Instrument tip located inside the eye, and also the sclera contact location on the Instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the Instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multi-function force Sensing Instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
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ICRA - A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery.
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2014Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force Sensing ophthalmic Instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function Instrument that is capable of measuring mN-level forces at the Instrument tip located inside the eye, and also the sclera contact location on the Instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the Instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multi-function force Sensing Instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
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BioRob - Development of a miniaturized 3-DOF force Sensing Instrument for robotically assisted retinal microsurgery and preliminary results
Proceedings of the ... IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE RAS-EMBS International Conference on Bi, 2014Co-Authors: Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Lack of force Sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force Sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force Sensing Instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force Sensing sensitivity and low crosstalk noise. The force Sensing segment of the tool, located directly proximal to the tool tip, is 00.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force Sensing. Analysis of the experiment results suggests improvements for the future iteration.
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A Submillimetric 3-DOF Force Sensing Instrument With Integrated Fiber Bragg Grating for Retinal Microsurgery
IEEE Transactions on Biomedical Engineering, 2014Co-Authors: Xingchi He, Peter L Gehlbach, James Handa, Russell Taylor, Iulian IordachitaAbstract:Vitreoretinal surgery requires very fine motor control to perform precise manipulation of the delicate tissue in the interior of the eye. Besides physiological hand tremor, fatigue, poor kinesthetic feedback, and patient movement, the absence of force Sensing is one of the main technical challenges. Previous two degrees of freedom (DOF) force Sensing Instruments have demonstrated robust force measuring performance. The main design challenge is to incorporate high sensitivity axial force Sensing. This paper reports the development of a submillimetric 3-DOF force Sensing pick Instrument based on fiber Bragg grating (FBG) sensors. The configuration of the four FBG sensors is arranged to maximize the decoupling between axial and transverse force Sensing. A superelastic nitinol flexure is designed to achieve high axial force sensitivity. An automated calibration system was developed for repeatability testing, calibration, and validation. Experimental results demonstrate a FBG sensor repeatability of 1.3 pm. The linear model for calculating the transverse forces provides an accurate global estimate. While the linear model for axial force is only locally accurate within a conical region with a 30° vertex angle, a second-order polynomial model can provide a useful global estimate for axial force. Combining the linear model for transverse forces and nonlinear model for axial force, the 3-DOF force Sensing Instrument can provide sub-millinewton resolution for axial force and a quarter millinewton for transverse forces. Validation with random samples show the force sensor can provide consistent and accurate measurement of 3-D forces.
Peter L Gehlbach - One of the best experts on this subject based on the ideXlab platform.
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development of a miniaturized 3 dof force Sensing Instrument for robotically assisted retinal microsurgery and preliminary results
IEEE International Conference on Biomedical Robotics and Biomechatronics, 2014Co-Authors: Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Lack of force Sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force Sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force Sensing Instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force Sensing sensitivity and low crosstalk noise. The force Sensing segment of the tool, located directly proximal to the tool tip, is 00.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force Sensing. Analysis of the experiment results suggests improvements for the future iteration.
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a multi function force Sensing Instrument for variable admittance robot control in retinal microsurgery
International Conference on Robotics and Automation, 2014Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force Sensing ophthalmic Instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function Instrument that is capable of measuring mN-level forces at the Instrument tip located inside the eye, and also the sclera contact location on the Instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the Instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multi-function force Sensing Instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
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ICRA - A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery.
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2014Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force Sensing ophthalmic Instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function Instrument that is capable of measuring mN-level forces at the Instrument tip located inside the eye, and also the sclera contact location on the Instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the Instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multi-function force Sensing Instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
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BioRob - Development of a miniaturized 3-DOF force Sensing Instrument for robotically assisted retinal microsurgery and preliminary results
Proceedings of the ... IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE RAS-EMBS International Conference on Bi, 2014Co-Authors: Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Lack of force Sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force Sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force Sensing Instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force Sensing sensitivity and low crosstalk noise. The force Sensing segment of the tool, located directly proximal to the tool tip, is 00.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force Sensing. Analysis of the experiment results suggests improvements for the future iteration.
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A Submillimetric 3-DOF Force Sensing Instrument With Integrated Fiber Bragg Grating for Retinal Microsurgery
IEEE Transactions on Biomedical Engineering, 2014Co-Authors: Xingchi He, Peter L Gehlbach, James Handa, Russell Taylor, Iulian IordachitaAbstract:Vitreoretinal surgery requires very fine motor control to perform precise manipulation of the delicate tissue in the interior of the eye. Besides physiological hand tremor, fatigue, poor kinesthetic feedback, and patient movement, the absence of force Sensing is one of the main technical challenges. Previous two degrees of freedom (DOF) force Sensing Instruments have demonstrated robust force measuring performance. The main design challenge is to incorporate high sensitivity axial force Sensing. This paper reports the development of a submillimetric 3-DOF force Sensing pick Instrument based on fiber Bragg grating (FBG) sensors. The configuration of the four FBG sensors is arranged to maximize the decoupling between axial and transverse force Sensing. A superelastic nitinol flexure is designed to achieve high axial force sensitivity. An automated calibration system was developed for repeatability testing, calibration, and validation. Experimental results demonstrate a FBG sensor repeatability of 1.3 pm. The linear model for calculating the transverse forces provides an accurate global estimate. While the linear model for axial force is only locally accurate within a conical region with a 30° vertex angle, a second-order polynomial model can provide a useful global estimate for axial force. Combining the linear model for transverse forces and nonlinear model for axial force, the 3-DOF force Sensing Instrument can provide sub-millinewton resolution for axial force and a quarter millinewton for transverse forces. Validation with random samples show the force sensor can provide consistent and accurate measurement of 3-D forces.
Russell H Taylor - One of the best experts on this subject based on the ideXlab platform.
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development of a miniaturized 3 dof force Sensing Instrument for robotically assisted retinal microsurgery and preliminary results
IEEE International Conference on Biomedical Robotics and Biomechatronics, 2014Co-Authors: Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Lack of force Sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force Sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force Sensing Instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force Sensing sensitivity and low crosstalk noise. The force Sensing segment of the tool, located directly proximal to the tool tip, is 00.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force Sensing. Analysis of the experiment results suggests improvements for the future iteration.
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a multi function force Sensing Instrument for variable admittance robot control in retinal microsurgery
International Conference on Robotics and Automation, 2014Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force Sensing ophthalmic Instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function Instrument that is capable of measuring mN-level forces at the Instrument tip located inside the eye, and also the sclera contact location on the Instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the Instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multi-function force Sensing Instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
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ICRA - A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery.
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2014Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force Sensing ophthalmic Instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function Instrument that is capable of measuring mN-level forces at the Instrument tip located inside the eye, and also the sclera contact location on the Instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the Instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multi-function force Sensing Instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
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BioRob - Development of a miniaturized 3-DOF force Sensing Instrument for robotically assisted retinal microsurgery and preliminary results
Proceedings of the ... IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE RAS-EMBS International Conference on Bi, 2014Co-Authors: Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Lack of force Sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force Sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force Sensing Instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force Sensing sensitivity and low crosstalk noise. The force Sensing segment of the tool, located directly proximal to the tool tip, is 00.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force Sensing. Analysis of the experiment results suggests improvements for the future iteration.
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a novel dual force Sensing Instrument with cooperative robotic assistant for vitreoretinal surgery
International Conference on Robotics and Automation, 2013Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic assistants and smart surgical Instruments have been developed to overcome many significant physiological limitations faced by vitreoretinal surgeons, one of which is lack of force perception below 7.5 mN. This paper reports the development of a new force sensor based on fiber Bragg grating (FBG) with the ability not just to sense forces at the tip of the surgical Instrument located inside the eye, but also to provide information about the interaction force between the Instrument shaft and the sclera. The sclera section provides vital feedback for cooperative robot control to minimize potentially dangerous forces on the eye. Preliminary results with 2×2 degrees-of-freedom (DOF) force sensor and force scaling robot control demonstrate significant reduction of forces on the sclera. The design and analysis of the sensor is presented along with a simulated robot assisted retinal membrane peeling on a phantom with sclera constraints and audio feedback.
James T Handa - One of the best experts on this subject based on the ideXlab platform.
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development of a miniaturized 3 dof force Sensing Instrument for robotically assisted retinal microsurgery and preliminary results
IEEE International Conference on Biomedical Robotics and Biomechatronics, 2014Co-Authors: Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Lack of force Sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force Sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force Sensing Instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force Sensing sensitivity and low crosstalk noise. The force Sensing segment of the tool, located directly proximal to the tool tip, is 00.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force Sensing. Analysis of the experiment results suggests improvements for the future iteration.
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a multi function force Sensing Instrument for variable admittance robot control in retinal microsurgery
International Conference on Robotics and Automation, 2014Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force Sensing ophthalmic Instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function Instrument that is capable of measuring mN-level forces at the Instrument tip located inside the eye, and also the sclera contact location on the Instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the Instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multi-function force Sensing Instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
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ICRA - A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery.
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2014Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force Sensing ophthalmic Instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function Instrument that is capable of measuring mN-level forces at the Instrument tip located inside the eye, and also the sclera contact location on the Instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the Instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multi-function force Sensing Instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
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BioRob - Development of a miniaturized 3-DOF force Sensing Instrument for robotically assisted retinal microsurgery and preliminary results
Proceedings of the ... IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE RAS-EMBS International Conference on Bi, 2014Co-Authors: Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Lack of force Sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force Sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force Sensing Instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force Sensing sensitivity and low crosstalk noise. The force Sensing segment of the tool, located directly proximal to the tool tip, is 00.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force Sensing. Analysis of the experiment results suggests improvements for the future iteration.
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a novel dual force Sensing Instrument with cooperative robotic assistant for vitreoretinal surgery
International Conference on Robotics and Automation, 2013Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic assistants and smart surgical Instruments have been developed to overcome many significant physiological limitations faced by vitreoretinal surgeons, one of which is lack of force perception below 7.5 mN. This paper reports the development of a new force sensor based on fiber Bragg grating (FBG) with the ability not just to sense forces at the tip of the surgical Instrument located inside the eye, but also to provide information about the interaction force between the Instrument shaft and the sclera. The sclera section provides vital feedback for cooperative robot control to minimize potentially dangerous forces on the eye. Preliminary results with 2×2 degrees-of-freedom (DOF) force sensor and force scaling robot control demonstrate significant reduction of forces on the sclera. The design and analysis of the sensor is presented along with a simulated robot assisted retinal membrane peeling on a phantom with sclera constraints and audio feedback.
Marcin Balicki - One of the best experts on this subject based on the ideXlab platform.
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a multi function force Sensing Instrument for variable admittance robot control in retinal microsurgery
International Conference on Robotics and Automation, 2014Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force Sensing ophthalmic Instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function Instrument that is capable of measuring mN-level forces at the Instrument tip located inside the eye, and also the sclera contact location on the Instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the Instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multi-function force Sensing Instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
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ICRA - A Multi-Function Force Sensing Instrument for Variable Admittance Robot Control in Retinal Microsurgery.
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2014Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force Sensing ophthalmic Instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function Instrument that is capable of measuring mN-level forces at the Instrument tip located inside the eye, and also the sclera contact location on the Instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the Instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multi-function force Sensing Instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.
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a novel dual force Sensing Instrument with cooperative robotic assistant for vitreoretinal surgery
International Conference on Robotics and Automation, 2013Co-Authors: Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract:Robotic assistants and smart surgical Instruments have been developed to overcome many significant physiological limitations faced by vitreoretinal surgeons, one of which is lack of force perception below 7.5 mN. This paper reports the development of a new force sensor based on fiber Bragg grating (FBG) with the ability not just to sense forces at the tip of the surgical Instrument located inside the eye, but also to provide information about the interaction force between the Instrument shaft and the sclera. The sclera section provides vital feedback for cooperative robot control to minimize potentially dangerous forces on the eye. Preliminary results with 2×2 degrees-of-freedom (DOF) force sensor and force scaling robot control demonstrate significant reduction of forces on the sclera. The design and analysis of the sensor is presented along with a simulated robot assisted retinal membrane peeling on a phantom with sclera constraints and audio feedback.
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new steady hand eye robot with micro force Sensing for vitreoretinal surgery
IEEE International Conference on Biomedical Robotics and Biomechatronics, 2010Co-Authors: A Uneri, Marcin Balicki, Peter L Gehlbach, James T Handa, Russell H Taylor, Iulian IordachitaAbstract: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.
