A Steady-Hand Robotic System for Microsurgical Augmentation

Abstract

This paper reports the development of a robotic system designed to extend a human's ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgement, sensory integration and hand-eye coordination.Our novel approach, which we call "steady hand" micromanipulation, is for tools to be held simultaneously both by the operator's hand and a specially designed actively controlled robot arm. The robot's controller senses forces exerted by the operator on the tool and by the tool on the environment, and uses this information in various control modes to provide smooth, tremor-free precise positional control and force scaling. Our goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of handheld tools for tasks characterized by compliant or semi-rigid contacts with the environment.

Development and Application of a New Steady-Hand Manipulator for Retinal Surgery

“…In contrast, the JHU Steady-Hand Robot (SHR) [12], [18] was designed to cooperatively share control of a surgical tool with the surgeon while meeting the performance, accuracy, and safety requirements of microsurgery. The absolute operational positioning precision is approximately 5 microns.…”

Hand-Held Force Magnifier for Surgical Instruments

“…A different, non-"tele"surgical approach has been demonstrated in several experimental systems, including the Force-Reflecting Motion-Scaling System created by Salcudean, et al [4] [5], and the Steady Hand Robot described by Taylor, et al [6] [7]. These generate a magnified sense of touch by using a robotic arm that holds the surgical tool simultaneously with the surgeon, pushing and pulling as appropriate, to amplify the forces detected by small sensors between the handle of the tool and its tip.…”

Robot‐Assisted Stapedotomy: Micropick Fenestration of the Stapes Footplate

“…They are useful for selectively amplifying (or reducing) elements of human motor and sensory performance. 9 For instance, the SH robot can both reduce tremor and amplify tactile sensation. 9 In the SH robotic system, the operator co-manipulates the surgical tool in cooperation with a robot arm.…”

“…9 For instance, the SH robot can both reduce tremor and amplify tactile sensation. 9 In the SH robotic system, the operator co-manipulates the surgical tool in cooperation with a robot arm. The surgeon and robot "co-hold" the instrument.…”

“…The robot senses the forces exerted by the surgeon on the instrument handle and synthesizes this information along with the sensed tool-tip forces to provide tremor-free positional control. 9 The SH robot dampens high-frequency movement (ie, tremor) by acting as a viscous system. Physiologic tremor typically manifests as 10-Hz sinusoidal movements and along with low-frequency drift has been shown to affect task performance for microsurgeons.…”