Development of a miniaturized 3-DOF force sensing instrument for robotically assisted retinal microsurgery and preliminary results

He, Xin; Gehlbach, Peter; Handa, James T.; Taylor, Russell H.; Iordachita, Iulian

doi:10.1109/biorob.2014.6913785

Cited by 20 publications

(8 citation statements)

References 22 publications

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“…The force sensor [14][15][16] with the FBG in the center has relatively high accuracy in measuring axial force. However, it requires a nonlinear method to fit the axial force, which is time-consuming and requires the acquisition of a large number of data samples.…”

Section: Discussionmentioning

confidence: 99%

“…Comparison of 3-DOF force sensor for retinal microsurgery. Description Index He et al [16] Gonenc et al [15] Zhang et al [17] Zhang et al [32] This work Represents the sensor performance under nonlinear method.…”

Section: Discussionmentioning

confidence: 99%

“…Current rigid retinal surgical instruments [14][15][16] with highsensitivity force sensors are designed with one of the fiber Bragg gratings (FBGs) suspended in the center of the nitinol tube to measure the axial force. In these sensors, the measurement of the axial force is affected by the transverse force so nonlinear decoupling is inevitable.…”

Section: Introductionmentioning

confidence: 99%

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A Micro‐3‐Degree‐of‐Freedom Force Sensor for Intraocular Dexterous Surgical Robots

Zhang

Wang

Bai

et al. 2023

Advanced Intelligent Systems

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The continuum manipulator improves the intraocular robot flexibility during retinal surgery. Herein, a micro‐3‐degree of freedom (DOF) force sensor with a length of only 3.8 mm that can adjust the puncture angle during retinal vein cannulation (RVC) is proposed. Taking advantage of 3D printing technology, the optical fiber and injection line are embedded in the nitinol tube with flexible hinges to achieve integration of the force sensing and injection functions. A new fiber Bragg grating (FBG) configuration method and linear decoupling algorithm are also proposed herein. Static calibration experiments demonstrate excellent resolution of the force sensor, of less than 0.072 mN for transverse force and 0.738 mN for the axial force in the range from −20 to 20 mN. The proposed sensor is installed on a newly developed actuator, and an ex vivo experiment is performed on pig cadaver eyes. The interaction forces at each stage of the RVC are recorded in detail for the first time, further confirming the feasibility and effectiveness of the developed sensor for monitoring the RVC interaction forces.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Micro‐3‐Degree‐of‐Freedom Force Sensor for Intraocular Dexterous Surgical Robots

Zhang

Wang

Bai

et al. 2023

Advanced Intelligent Systems

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“…Yokoyama et al [13] presented a force sensor by adhering three FBG sensors to a deformable body, and made a preliminary test to demonstrate 1 g resolution within the range 50 g, but that is difficult to find a suitable biocompatible flexible body to provide the matching of the lateral and axial stiffnesses to provide the resolutions at the same order of magnitude along each direction. He and Gonenc et al [11], [14]- [16] integrated a tool with four FBG sensors, and a decoupling algorithm with the temperature compensation was developed to calculate the triaxial force of needles or forceps for the retinal surgery successfully, but their force sensors are not applicable for the cardiac surgery with a maximal contact force as 100 g. Hence, the motivation of this paper is to develop a miniature force sensor with an excellent lateral and axial stiffness balance to guarantee the resolutions with the same order of…”

Section: A Related Researchesmentioning

confidence: 99%

Fiber Bragg Grating-Based Triaxial Force Sensor With Parallel Flexure Hinges

Gao

Zhou

Cao

et al. 2018

IEEE Trans. Ind. Electron.

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During cardiac surgery, the excessive or insufficient contact force between the tip of catheter and heart tissue will lead to the cardiac penetration or noneffective ablative lesion. Usually, the surgeon can only estimate the force at the distal end roughly from their experience by operating the catheter's proximal handle. In this paper, we design a fiber Bragg grating-based triaxial force sensor with parallel flexure hinges to sense the contact force. The proposed mechanism integrated with parallel flexure hinges is capable of achieving an excellent lateral and axial stiffness balance to guarantee the resolution at each direction with the same order of magnitude. The mathematical model is built to design a suitable stiffness configuration and validate the design reasonability. The model-based and model-free methods are adopted to decouple lateral and axial force components. Experimental results demonstrate that the developed 8 French size force sensor can successfully achieve the triaxial force prediction with <1 g resolution using both decoupling methods. And the model-free method can accomplish a higher accuracy with RMS error <1% of full scale of [-100 g, 100 g] along the lateral direction and [0 g, 100 g] along the axial compression direction.

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“… 41 – 43 Of note is that each DOF has a significant effect on the motion accuracy of the tool during tracking and has the potential to improve motion accuracy and safety in performing robot-assisted tasks. 44 , 45 …”

Section: Introduction To Robots In Retinal Surgery and Human Limitatimentioning

confidence: 99%

Robot-assisted vitreoretinal surgery: current perspectives

Roizenblatt¹,

Edwards²,

Gehlbach³

2018

RSRR

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Vitreoretinal microsurgery is among the most technically challenging of the minimally invasive surgical techniques. Exceptional precision is required to operate on micron scale targets presented by the retina while also maneuvering in a tightly constrained and fragile workspace. These challenges are compounded by inherent limitations of the unassisted human hand with regard to dexterity, tremor and precision in positioning instruments. The limited human ability to visually resolve targets on the single-digit micron scale is a further limitation. The inherent attributes of robotic approaches therefore, provide logical, strategic and promising solutions to the numerous challenges associated with retinal microsurgery. Robotic retinal surgery is a rapidly emerging technology that has witnessed an exponential growth in capabilities and applications over the last decade. There is now a worldwide movement toward evaluating robotic systems in an expanding number of clinical applications. Coincident with this expanding application is growth in the number of laboratories committed to “robotic medicine”. Recent technological advances in conventional retina surgery have also led to tremendous progress in the surgeon’s capabilities, enhanced outcomes, a reduction of patient discomfort, limited hospitalization and improved safety. The emergence of robotic technology into this rapidly advancing domain is expected to further enhance important aspects of the retinal surgery experience for the patients, surgeons and society.

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Development of a miniaturized 3-DOF force sensing instrument for robotically assisted retinal microsurgery and preliminary results

Cited by 20 publications

References 22 publications

A Micro‐3‐Degree‐of‐Freedom Force Sensor for Intraocular Dexterous Surgical Robots

A Micro‐3‐Degree‐of‐Freedom Force Sensor for Intraocular Dexterous Surgical Robots

Fiber Bragg Grating-Based Triaxial Force Sensor With Parallel Flexure Hinges

Robot-assisted vitreoretinal surgery: current perspectives

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