Human eye phantom for developing computer and robot-assisted epiretinal membrane peeling

Gupta, Amrita; Gonenc, Berk; Balicki, Marcin; Olds, Kevin; Handa, James T.; Gehlbach, Peter; Taylor, Russell H.; Iordachita, Iulian

doi:10.1109/embc.2014.6945205

Cited by 7 publications

(8 citation statements)

References 21 publications

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“…Our previous membrane peeling experiments on various types of artificial phantom also support that transverse loads containing large F y (associated with α > 30) are not very likely in practical use of the micro-forceps [52]. In an attempt to find a more accurate linear fitting for the axial force, we first analyzed a subset of the calibration data associated with α ≤ 30°.…”

Section: Experiments and Resultsmentioning

confidence: 99%

3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery

Gonenc

Chamani

Handa³

et al. 2017

IEEE Sensors J.

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In vitreoretinal surgery, membrane peeling is a prototypical task where a layer of fibrous tissue is delaminated off the retina with a micro-forceps by applying very fine forces that are mostly imperceptible to the surgeon. Previously we developed sensitized ophthalmic surgery tools based on fiber Bragg grating (FBG) strain sensors, which were shown to precisely detect forces at the instrument’s tip in two degrees of freedom perpendicular to the tool axis. This paper presents a new design that employs an additional sensor to capture also the tensile force along the tool axis. The grasping functionality is provided via a compact motorized unit. To compute forces, we investigate two distinct fitting methods: a linear regression and a nonlinear fitting based on second-order Bernstein polynomials. We carry out experiments to test the repeatability of sensor outputs, calibrate the sensor and validate its performance. Results demonstrate sensor wavelength repeatability within 2 pm. Although the linear method provides sufficient accuracy in measuring transverse forces, in the axial direction it produces a root mean square (rms) error over 3 mN even for a confined magnitude and direction of forces. On the other hand, the nonlinear method provides a more consistent and accurate measurement of both the transverse and axial forces for the entire force range (0–25 mN). Validation including random samples shows that our tool with the nonlinear force computation method can predict 3-D forces with an rms error under 0.15 mN in the transverse plane and within 2 mN accuracy in the axial direction.

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Section: Experiments and Resultsmentioning

confidence: 99%

3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery

Gonenc

Chamani

Handa³

et al. 2017

IEEE Sensors J.

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“…The phantom was placed inside a container, which was filled with balanced salt solution (BSS) to emulate the aqueous environment inside the eye after vitrectomy. A white silicone port (fabricated as outlined in [ 65 ]) was mounted above the phantom to simulate the sclera. To reach the phantom surface, the needle is first passed through the trocar on the silicone port.…”

Section: Methodsmentioning

confidence: 99%

Towards Robot-Assisted Retinal Vein Cannulation: A Motorized Force-Sensing Microneedle Integrated with a Handheld Micromanipulator †

Gonenc

Chae

Gehlbach

et al. 2017

Sensors

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Retinal vein cannulation is a technically demanding surgical procedure where therapeutic agents are injected into the retinal veins to treat occlusions. The clinical feasibility of this approach has been largely limited by the technical challenges associated with performing the procedure. Among the challenges to successful vein cannulation are identifying the moment of venous puncture, achieving cannulation of the micro-vessel, and maintaining cannulation throughout drug delivery. Recent advances in medical robotics and sensing of tool-tissue interaction forces have the potential to address each of these challenges as well as to prevent tissue trauma, minimize complications, diminish surgeon effort, and ultimately promote successful retinal vein cannulation. In this paper, we develop an assistive system combining a handheld micromanipulator, called “Micron”, with a force-sensing microneedle. Using this system, we examine two distinct methods of precisely detecting the instant of venous puncture. This is based on measured tool-tissue interaction forces and also the tracked position of the needle tip. In addition to the existing tremor canceling function of Micron, a new control method is implemented to actively compensate unintended movements of the operator, and to keep the cannulation device securely inside the vein following cannulation. To demonstrate the capabilities and performance of our uniquely upgraded system, we present a multi-user artificial phantom study with subjects from three different surgical skill levels. Results show that our puncture detection algorithm, when combined with the active positive holding feature enables sustained cannulation which is most evident in smaller veins. Notable is that the active holding function significantly attenuates tool motion in the vein, thereby reduces the trauma during cannulation.

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“…3a), a digital microscope (USB2-Micro-200X, Plugable Technologies) and a computer system (Intel i7 processor with 8 GB RAM). The eyeball phantom was developed in our previous work [9]. For this experiment, we placed the artificial eyeball into a 3D printed socket and used mineral oil at the interface to provide lubrication and enable movement of the eyeball inside the socket with a realistic resistance.…”

Section: Methodsmentioning

confidence: 99%

Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery

et al. 2017

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In vitreoretinal surgery instruments are inserted through the sclera to perform precise surgical maneuvers inside the eyeball, which exceeds typical human capabilities. Robotic assistance can enhance the skills of a novice surgeon, provide guidance during tool manipulation based on the desired behavior defined by expert surgeons’ maneuvers, and consequently improve the surgical outcome. This paper presents an experimental study characterizing the safe/desired magnitude of forces between the surgical instrument and the sclera insertion port as a function of the tool insertion depth. We explore two types of regressions, a polynomial and a sum of sines fit, to describe the observed user behavior during our one-user pilot study, based on which a variable admittance control scheme can be implemented to robotically guide other users towards this desired behavior for a safe operation.

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Human eye phantom for developing computer and robot-assisted epiretinal membrane peeling

Cited by 7 publications

References 21 publications

3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery

3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery

Towards Robot-Assisted Retinal Vein Cannulation: A Motorized Force-Sensing Microneedle Integrated with a Handheld Micromanipulator †

Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery

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