College of Automation and College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing, China.
School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
Transl Vis Sci Technol. 2023 Mar 1;12(3):32. doi: 10.1167/tvst.12.3.32.
Robot assistance in membrane peeling may improve precision and dexterity or prevent complications by task automation. To design robotic devices, surgical instruments' velocity, acceptable position/pose error, and load ability need to be precisely quantified.
A fiber Bragg grating and inertial sensors are attached to forceps. Data collected from forceps and microscope images are used to quantify a surgeon's hand motion (tremor, velocity, posture perturbation) and operation force (voluntary and involuntary) in inner limiting membrane peeling. All peeling attempts are performed on rabbit eyes in vivo by expert surgeons.
The root mean square (RMS) of the tremor amplitude is 20.14 µm (transverse, X), 23.99 µm (transverse, Y), and 11.68 µm (axial, Z). The RMS posture perturbation is 0.43° (around X), 0.74° (around Y), and 0.46° (around Z). The RMS angular velocities are 1.74°/s (around X), 1.66°/s (around Y), and 1.46°/s (around Z), whereas the RMS velocities are 1.05 mm/s (transverse) and 1.44 mm/s (axial). The RMS force is 7.39 mN (voluntary force), 7.41 mN (operation force), and 0.5 mN (involuntary force).
Hand motion and operation force are measured in membrane peeling. These parameters provide a potential baseline for determining a surgical robot's accuracy, velocity, and load capacity.
Baseline data are obtained that can be used to guide ophthalmic robot design/evaluation.
机器人辅助在进行内界膜剥离时，可以通过任务自动化提高精度和灵活性，或者预防并发症。为了设计机器人设备，需要精确地量化手术器械的速度、可接受的位置/姿态误差和负载能力。
在手术器械上附加光纤布拉格光栅和惯性传感器。通过从手术器械和显微镜图像中收集的数据，对内界膜剥离过程中医师手部运动（震颤、速度、姿态扰动）和操作力（主动和被动）进行量化。所有的剥离尝试都是由专家外科医生在活体兔子眼睛上进行的。
震颤幅度的均方根（RMS）值分别为 20.14 µm（横向，X）、23.99 µm（横向，Y）和 11.68 µm（轴向，Z）。姿态扰动的 RMS 值分别为 0.43°（绕 X 轴）、0.74°（绕 Y 轴）和 0.46°（绕 Z 轴）。角速率的 RMS 值分别为 1.74°/s（绕 X 轴）、1.66°/s（绕 Y 轴）和 1.46°/s（绕 Z 轴），而速度的 RMS 值分别为 1.05 mm/s（横向）和 1.44 mm/s（轴向）。力的 RMS 值分别为 7.39 mN（主动力）、7.41 mN（操作力）和 0.5 mN（被动力）。
在进行内界膜剥离时，测量了手部运动和操作力。这些参数为确定手术机器人的精度、速度和负载能力提供了潜在的基准。
马丽
