title: Motorized Force-Sensing Micro-Forceps with Tremor Cancelling and Controlled Micro-Vibrations for Easier Membrane Peeling.
abstract: Retinal microsurgery requires the manipulation of extremely delicate tissues by various micron scale maneuvers and the application of very small forces. Among vitreoretinal procedures, membrane peeling is a standard procedure requiring the delamination of a very thin fibrous membrane on the retina surface. This study presents the development and evaluation of an integrated assistive system for membrane peeling. This system combines a force-sensing motorized micro-forceps with an active tremor-canceling handheld micromanipulator, Micron. The proposed system (1) attenuates hand-tremor when accurate positioning is needed, (2) provides auditory force feedback to keep the exerted forces at a safe level, and (3) pulsates the tool tip at high frequency to provide ease in delaminating membranes. Experiments on bandages and raw chicken eggs have revealed that controlled micro-vibrations provide significant ease in delaminating membranes. Applying similar amount of forces, much faster delamination was observed when the frequency of these vibrations were increased (up to 50 Hz).
authors.affiliation: CISST ERC at Johns Hopkins University, Baltimore, MD 21218 USA.
authors.forename: Berk
authors.initials: B
authors.lastname: Gonenc
authors.affiliation: Wilmer Eye Institute at The Johns Hopkins School of Medicine, Baltimore, MD 21287 USA.
authors.forename: Peter
authors.initials: P
authors.lastname: Gehlbach
authors.affiliation: Wilmer Eye Institute at The Johns Hopkins School of Medicine, Baltimore, MD 21287 USA.
authors.forename: James
authors.initials: J
authors.lastname: Handa
authors.affiliation: CISST ERC at Johns Hopkins University, Baltimore, MD 21218 USA.
authors.forename: Russell H
authors.initials: RH
authors.lastname: Taylor
authors.affiliation: CISST ERC at Johns Hopkins University, Baltimore, MD 21218 USA.
authors.forename: Iulian
authors.initials: I
authors.lastname: Iordachita