A Comparative Study for Robot Assisted Vitreoretinal Surgery: Micron vs. the Steady-Hand Robot.
In vitreoretinal surgery, application of excessive forces and unintentional motion due to hand-tremor can easily result in serious complications. Robotic assistance when combined with tool-to-tissue force sensing capabilities has significant potential to improve such practice. In this paper, we evaluate the membrane peeling performance of a single user for two distinct robotic systems with integrated force sensing capabilities: Micron and the Steady-Hand Robot. We show that these systems provide promising performance improvement with similar impact on peeling forces and comparable tremor cancellation trends.
CISST ERC at Johns Hopkins University, Baltimore, MD 21218 USA.
Berk
B
Gonenc
Wilmer Eye Institute at The Johns Hopkins School of Medicine, Baltimore, MD 21287 USA.
James
J
Handa
Wilmer Eye Institute at The Johns Hopkins School of Medicine, Baltimore, MD 21287 USA.
Peter
P
Gehlbach
CISST ERC at Johns Hopkins University, Baltimore, MD 21218 USA.
Russell H
RH
Taylor
CISST ERC at Johns Hopkins University, Baltimore, MD 21218 USA.
Iulian
I
Iordachita