title: 'The Microhand': a new concept of micro-forceps for ocular robotic surgery.
abstract: OBJECTIVE
  To test the feasibility of retinal manipulations using a new micromanipulator (Microhand) for ocular robotic microsurgery.
  
  
  METHODS
  Pneumatically actuated four-finger microhands were developed at UCLA with micro electromechanical systems (MEMS) technology to mimic a human hand for small object manipulation. Microhands with four 4 mm finger lengths were used for this study to lift caliper weights and fresh retinal tissue of porcine cadaver eyes to find the maximum force at a given pressure and feasibility of the microhands for retinal manipulation in real surgery.
  
  
  RESULTS
  A full closure of the microhand used for caliper weight lifting was achieved under 65 psi (448 kPa) of air pressure. The four-fingered microhand was able to develop about 20 mN of total lifting force and 5 mN per finger at 80 psi (551 kPa), and was strong enough to displace and lift the retina of pig eyes.
  
  
  CONCLUSIONS
  The microhand is able to apply calibrated forces to ocular tissues and is suitable for ocular microsurgical procedures. This new tool would be useful in the development of robotic microsurgery.
authors.affiliation: Retina Division, Department of Ophthalmology, David Geffen School of Medicine, Jules Stein Eye Institute, UCLA, Los Angeles, CA 90095-7000, USA. Hubschman@jsei.ucla.edu
authors.forename: J-P
authors.initials: JP
authors.lastname: Hubschman
authors.forename: J-L
authors.initials: JL
authors.lastname: Bourges
authors.forename: W
authors.initials: W
authors.lastname: Choi
authors.forename: A
authors.initials: A
authors.lastname: Mozayan
authors.forename: A
authors.initials: A
authors.lastname: Tsirbas
authors.forename: C-J
authors.initials: CJ
authors.lastname: Kim
authors.forename: S-D
authors.initials: SD
authors.lastname: Schwartz
mesh_terms: D000818:Animals; D002102:Cadaver; D005240:Feasibility Studies; D008866:Microsurgery / Q000295:instrumentation* / Q000379:methods; D013508:Ophthalmologic Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D012160:Retina / Q000601:surgery*; D012371:Robotics / Q000295:instrumentation*; D013552:Swine