迈向机器人辅助玻璃体视网膜手术：集成手持式微操纵器的力传感微型镊子
Towards Robot-Assisted Vitreoretinal Surgery: Force-Sensing Micro-Forceps Integrated with a Handheld Micromanipulator.
作者信息
Gonenc Berk, Feldman Ellen, Gehlbach Peter, Handa James, Taylor Russell H, Iordachita Iulian
机构信息
CISST ERC at Johns Hopkins University, Baltimore, MD 21218 USA.
Viterbi School of Engineering at the University of Southern California, Los Angeles CA, 90089, USA.
出版信息
IEEE Int Conf Robot Autom. 2014 May;2014:1399-1404. doi: 10.1109/ICRA.2014.6907035.
Abstract
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.
摘要
在玻璃体视网膜手术中，无震颤的可控运动以及对视网膜施加力的限制是两个非常理想的特性。本研究通过一种新的集成系统满足了这两个要求：一种力传感电动微型镊子与一种主动消除震颤的手持式显微操作器相结合，称为Micron。微型镊子是一种20号器械，其与手柄机械解耦，并以0.3 mN的精度感测其尖端的横向力。在绷带模型上进行的膜剥离试验表明，在2 - 20 Hz频段内，尖端力和位置频谱均降低了60 - 95%，同时剥离力仍低于设定的安全阈值。
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