title: A Novel Dual Force Sensing Instrument with Cooperative Robotic Assistant for Vitreoretinal Surgery.
abstract: Robotic assistants and smart surgical instruments have been developed to overcome many significant physiological limitations faced by vitreoretinal surgeons, one of which is lack of force perception below 7.5 mN. This paper reports the development of a new force sensor based on fiber Bragg grating (FBG) with the ability to sense forces at the tip of the surgical instrument located inside the eye and also provide information about instrument interaction with the sclera. The sclera section provides vital feedback for cooperative robot control to minimize potentially dangerous forces on the eye. Preliminary results with 2×2 degree-of-freedom (DOF) sensor and force scaling robot control demonstrate significant reduction of forces on the sclera. The design and analysis of the sensor is presented along with a simulated robot assisted retinal membrane peeling on a phantom with sclera constraints and audio feedback.
authors.affiliation: Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218 USA.
authors.forename: Xingchi
authors.initials: X
authors.lastname: He
authors.affiliation: Computer Science Department, Johns Hopkins University, Baltimore, MD 21218 USA.
authors.forename: Marcin
authors.initials: M
authors.lastname: Balicki
authors.affiliation: Department of Ophthalmology, Johns Hopkins School of Medicine, Baltimore, MD 21287 USA.
authors.forename: Peter
authors.initials: P
authors.lastname: Gehlbach
authors.affiliation: Computer Science Department, Johns Hopkins University, Baltimore, MD 21218 USA.
authors.forename: James
authors.initials: J
authors.lastname: Handa
authors.affiliation: Computer Science Department, Johns Hopkins University, Baltimore, MD 21218 USA.
authors.forename: Russell
authors.initials: R
authors.lastname: Taylor
authors.affiliation: Mechanical Engineering Department, Johns Hopkins University, Baltimore, MD 21218 USA.
authors.forename: Iulian
authors.initials: I
authors.lastname: Iordachita