Active tremor compensation in microsurgery

Ang, Wei Tech; Pradeep, Prakruthi; Riviere, Cameron N.

doi:10.1109/iembs.2004.1403784

Cited by 49 publications

(48 citation statements)

References 15 publications

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“…In parallel, Riviere, et al has been developing a handheld microsurgical system that has differentiated itself from traditional robotic arm based systems [10][11][12][13][14][15]. The handheld system operates independently without the assistance of external equipment such as a robotic arm by using its own embedded sensors and actuators.…”

Section: Introductionmentioning

confidence: 99%

Accurate real-time depth control for CP-SSOCT distal sensor based handheld microsurgery tools

Cheon

Huang

Cha

et al. 2015

Biomed. Opt. Express

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This paper presents a novel intuitive targeting and tracking scheme that utilizes a common-path swept source optical coherence tomography (CP-SSOCT) distal sensor integrated handheld microsurgical tool. To achieve micron-order precision control, a reliable and accurate OCT distal sensing method is required; simultaneously, a prediction algorithm is necessary to compensate for the system delay associated with the computational, mechanical and electronic latencies. Due to the multilayered structure of retina, it is necessary to develop effective surface detection methods rather than simple peak detection. To achieve this, a shifted cross-correlation method is applied for surface detection in order to increase robustness and accuracy in distal sensing. A predictor based on Kalman filter was implemented for more precise motion compensation. The performance was first evaluated using an established dry phantom consisting of stacked cellophane tape. This was followed by evaluation in an ex-vivo bovine retina model to assess system accuracy and precision. The results demonstrate highly accurate depth targeting with less than 5 μm RMSE depth locking.

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Section: Introductionmentioning

confidence: 99%

Accurate real-time depth control for CP-SSOCT distal sensor based handheld microsurgery tools

Cheon

Huang

Cha

et al. 2015

Biomed. Opt. Express

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“…These operations, such as microanastomosis of blood vessels and reattachment of nerve fibers, require high levels of manual dexterity and accuracy that surpass human capabilities. For instance, in vitroretinal surgery, a 10 µm accuracy is desired [1]; however even trained surgeons have a root mean square (RMS) tremor between 49 -133 µm at the tip of their surgical tool [2].…”

Section: Introductionmentioning

confidence: 99%

Design and control of a parallel linkage wrist for robotic microsurgery

Değirmenci

Hammond

Gafford

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-This paper presents the design and control of a teleoperated robotic system for dexterous micromanipulation tasks at the meso-scale, specifically open microsurgery. Robotic open microsurgery is an unexplored yet potentially a high impact area of surgical robotics. Microsurgical operations, such as microanastomosis of blood vessels and reattachment of nerve fibers, require high levels of manual dexterity and accuracy that surpass human capabilities. A 3-DoF robotic wrist is designed and built based on a spherical five-bar mechanism. The wrist is attached to a 3-axis commercial off-the-shelf linear stage, achieving a fully dexterous system. Design requirements are determined using motion data collected during a simulated microanastomosis operation. The wrist design is optimized to maximize workspace and manipulability. The system is teleoperated using a haptic device, and has the required bandwidth to replicate microsurgical motions. The system was successfully used in a micromanipulation task to stack 1 mm-diameter metal spheres. The micromanipulation system presented here may improve surgical outcomes during open microsurgery by offering better accuracy and dexterity to surgeons.

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“…In 1997 [6]. Riviere group's approach is a hand-held surgical tool with the ability of active tremor cancellation [9]. Steady-hand is a robot assisting ophthalmic surgeons developed by Taylor's group at the Johns Hopkins University [10].…”

Section: Introductionmentioning

confidence: 99%

The introduction of a new robot for assistance in ophthalmic surgery

Nasseri

Eder

Nair

et al. 2013

2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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Abstract-This paper introduces the design and development of a new robotic system to assist surgeons performing ophthalmic surgeries. The robot itself is very compact and similar to an average human hand in size. Its primary application is intraocular micromanipulation in order to overcome the existing challenges in treatment of diseases like Retinal Vein Occlusion (RVO). The novel hybrid mechanism designed for this robot allows microscale motions and is stable in the presence of vibrations common in operation room (OR). The robotic system can be easily integrated into standard operation rooms and does not require modification of conventional surgical tools. This compact microsurgical system is suitable for mounting on the patient's head and thereby, solves the problem of patient motion. The compatibility of the robotic system with a real world surgical setup was evaluated and confirmed in this work.

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Active tremor compensation in microsurgery

Cited by 49 publications

References 15 publications

Accurate real-time depth control for CP-SSOCT distal sensor based handheld microsurgery tools

Accurate real-time depth control for CP-SSOCT distal sensor based handheld microsurgery tools

Design and control of a parallel linkage wrist for robotic microsurgery

The introduction of a new robot for assistance in ophthalmic surgery

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