He Changyan, Roizenblatt Marina, Patel Niravkumar, Ebrahimi Ali, Yang Yang, Gehlbach Peter L, Iordachita Iulian
LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA.
School of Mechanical Engineering and Automation at Beihang University, Beijing, 100191 China.
Proc IEEE Sens. 2018 Oct;2018. doi: 10.1109/ICSENS.2018.8589810. Epub 2018 Dec 27.
The performance of retinal microsurgery often requires the coordinated use of both hands. During bimanual retinal surgery, dominant hand performance may be negatively impacted by poor non-dominant hand assistance. Therefore understanding bimanual latent determinants, and establishing safety criteria for bimanual manipulation is relevant to robotic development and to eventual patient care. In this paper, we present a preliminary study to quantitatively evaluate one aspect of bimanual tool use in retinal surgery. Two force sensing tools were designed and fabricated using fiber Bragg grating sensors. Tool-to-sclera contact force is measured using the developed tools and analyzed. The tool forces were recorded during five basic surgical maneuvers typical of retinal surgery. Two subjects are involved in experiments, including one clinician and one engineer. For comparison, all manipulations were replicated under robot-assisted conditions. The results indicate that the average tool-to-sclera force recorded from the dominant hand tool is significantly higher than that from the non-dominant hand tool ( = 0.004). Moreover, the average forces under robot-assisted conditions with the present steady hand robot is notably higher than freehand conditions( = 0.01). The forces obtained from the dominant and not-dominant hand instruments indicate a weak correlation.
视网膜显微手术的操作通常需要双手协同使用。在双手视网膜手术中，优势手的操作可能会因非优势手辅助不佳而受到负面影响。因此，了解双手操作的潜在决定因素，并建立双手操作的安全标准，对于机器人开发和最终的患者护理都具有重要意义。在本文中，我们进行了一项初步研究，以定量评估视网膜手术中双手使用工具的一个方面。我们使用光纤布拉格光栅传感器设计并制造了两种力传感工具。使用所开发的工具测量并分析工具与巩膜之间的接触力。在视网膜手术典型的五种基本手术操作过程中记录工具力。两名受试者参与了实验，包括一名临床医生和一名工程师。为了进行比较，所有操作都在机器人辅助条件下重复进行。结果表明，优势手工具记录的平均工具与巩膜力明显高于非优势手工具（P = 0.004）。此外，使用当前的稳手机器人在机器人辅助条件下的平均力明显高于徒手条件（P = 0.01）。从优势手和非优势手器械获得的力显示出较弱的相关性。
