Patel Niravkumar, Urias Muller, Ebrahimi Ali, Gehlbach Peter, Iordachita Iulian
Annu Int Conf IEEE Eng Med Biol Soc. 2020 Jul;2020:6049-6053. doi: 10.1109/EMBC44109.2020.9176402.
During vitreoretinal surgery, the surgeon is required to precisely manipulate multiple tools in a confined intraocular environment, while the tool tip to retina contact forces are at the limit of human sensation limits. During typical vitrectomy procedures, the surgeon inserts various tools through small incisions performed on the sclera of the eye (sclerotomies), and manipulates them to perform surgical tasks. During intraocular procedures, tool-tissue interactions occur at the sclerotomy ports and at the tool-tip when it contacts retina. Measuring such interactions may be valuable for providing force feedback necessary for robotic guidance. In this paper, we measure and analyze force measurements at the sclerotomy ports. To the best of our knowledge, this is the first time that the scleral forces are measured in an in vivo eye model. A force sensing instrument utilizing Fiber Bragg Grating (FBG) strain sensors was used to measure the scleral forces while two retinal surgeons performed intraocular tool manipulation (ITM) task in rabbit eyes as well as a dry phantom. The mean of the measured sclera forces were 129.11 mN and 80.45 mN in in vivo and dry phantom experiments, respectively.
在玻璃体视网膜手术中，外科医生需要在有限的眼内环境中精确操控多种工具，而工具尖端与视网膜的接触力处于人类感知极限的范围。在典型的玻璃体切割手术过程中，外科医生通过在眼球巩膜上做的小切口（巩膜切口）插入各种工具，并操控它们来执行手术任务。在眼内手术过程中，工具与组织的相互作用发生在巩膜切口处以及工具尖端接触视网膜时。测量这种相互作用对于提供机器人引导所需的力反馈可能具有重要价值。在本文中，我们测量并分析了巩膜切口处的力测量值。据我们所知，这是首次在活体眼模型中测量巩膜力。当两位视网膜外科医生在兔眼以及干燥模型中执行眼内工具操作（ITM）任务时，使用了一种利用光纤布拉格光栅（FBG）应变传感器的力传感仪器来测量巩膜力。在活体和干燥模型实验中，测量得到的巩膜力平均值分别为129.11 mN和80.45 mN。
