Patel Niravkumar, Urias Muller, Ebrahimi Ali, He Changyan, Gehlbach Peter, Iordachita Iulian
Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD USA-21218.
Wilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD 21287 USA.
Proc IEEE Sens. 2019 Oct;2019. doi: 10.1109/SENSORS43011.2019.8956820. Epub 2020 Jan 13.
Vitreoretinal surgery is among the most challenging microsurgical procedures as it requires precise tool manipulation in a constrained environment, while the tool-tissue interaction forces are at the human perception limits. While tool tip forces are certainly important, the scleral forces at the tool insertion ports are also important. Clinicians often rely on these forces to manipulate the eyeball position during surgery. Measuring sclera forces could enable valuable sensory input to avoid tissue damage, especially for a cooperatively controlled robotic assistant that otherwise removes the sensation of these familiar intraoperative forces. Previously, our group has measured sclera forces in phantom experiments. However, to the best of our knowledge, there are no published data measuring scleral forces in biological eye models. In this paper, we measured sclera forces in porcine eye model. A Fiber Bragg Grating (FBG) based force sensing instrument with a diameter of ~900 m and a resolution of ~1 mN was used to measure the forces while the clinician-subject followed retinal vessels in manual and robot-assisted modes. Analysis of measured forces show that the average sclera force in manual mode was 133.74 mN while in robot-assisted mode was 146.03 mN.
玻璃体视网膜手术是最具挑战性的显微外科手术之一，因为它需要在受限的环境中精确操作工具，而工具与组织的相互作用力处于人类感知极限。虽然工具尖端的力固然重要，但工具插入端口处的巩膜力也很重要。临床医生在手术过程中常常依靠这些力来操纵眼球位置。测量巩膜力能够提供有价值的感官输入，以避免组织损伤，特别是对于协同控制的机器人助手而言，否则它会消除这些熟悉的术中力的感觉。此前，我们团队已在模拟实验中测量过巩膜力。然而，据我们所知，尚无在生物眼模型中测量巩膜力的公开数据。在本文中，我们在猪眼模型中测量了巩膜力。使用了一种基于光纤布拉格光栅（FBG）的力传感仪器，其直径约为900微米，分辨率约为1毫牛，在临床受试者以手动和机器人辅助模式追踪视网膜血管时测量力。对测量力的分析表明，手动模式下的平均巩膜力为133.74毫牛，而机器人辅助模式下为146.03毫牛。
