title: Fiber-optic OCT sensor guided "SMART" micro-forceps for microsurgery.
abstract: A handheld Smart Micromanipulation Aided Robotic-surgery Tool (SMART) micro-forceps guided by a fiber-optic common-path optical coherence tomography (CP-OCT) sensor is presented. A fiber-optic CP-OCT distance and motion sensor is integrated into the shaft of a micro-forceps. The tool tip position is manipulated longitudinally through a closed loop control using a piezoelectric motor. This novel forceps design could significantly enhance safety, efficiency and surgical outcomes. The basic grasping and peeling functions of the micro-forceps are evaluated in dry phantoms and in a biological tissue model. As compared to freehand use, targeted grasping and peeling performance assisted by active tremor compensation, significantly improves micro-forceps user performance.
authors.affiliation: Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles St., Baltimore, MD 21218, USA.
authors.forename: Cheol
authors.initials: C
authors.lastname: Song
authors.forename: Dong Yong
authors.initials: DY
authors.lastname: Park
authors.forename: Peter L
authors.initials: PL
authors.lastname: Gehlbach
authors.forename: Seong Jin
authors.initials: SJ
authors.lastname: Park
authors.forename: Jin U
authors.initials: JU
authors.lastname: Kang
keywords: (060.2370) Fiber optics sensors; (170.3890) Medical optics instrumentation; (170.4500) Optical coherence tomography; (280.4788) Optical sensing and sensors