title: Development and preliminary results of bimanual smart micro-surgical system using a ball-lens coupled OCT distance sensor.
abstract: Bimanual surgery enhances surgical effectiveness and is required to successfully accomplish complex microsurgical tasks. The essential advantage is the ability to simultaneously grasp tissue with one hand to provide counter traction or exposure, while dissecting with the other. Towards enhancing the precision and safety of bimanual microsurgery we present a bimanual SMART micro-surgical system for a preliminaryex-vivostudy. To the best of our knowledge, this is the first demonstration of a handheld bimanual microsurgical system. The essential components include a ball-lens coupled common-path swept source optical coherence tomography sensor. This system effectively suppresses asynchronous hand tremor using two PZT motors in feedback control loop and efficiently assists ambidextrous tasks. It allows precise bimanual dissection of biological tissues with a reduction in operating time as compared to the same tasks performed with conventional one-handed approaches.
authors.affiliation: Department of Robotics Engineering, DGIST, 333 Techno Jungang-Daero, Daegu, 42988, South Korea.
authors.forename: Dongwoo
authors.initials: D
authors.lastname: Koo
authors.affiliation: Department of Robotics Engineering, DGIST, 333 Techno Jungang-Daero, Daegu, 42988, South Korea.
authors.forename: Hyun-Cheol
authors.initials: HC
authors.lastname: Park
authors.affiliation: Wilmer Eye Institute, Johns Hopkins School of Medicine, 600 N. Wolfe St., Baltimore, MD 21287, USA.
authors.forename: Peter L
authors.initials: PL
authors.lastname: Gehlbach
authors.affiliation: Department of Robotics Engineering, DGIST, 333 Techno Jungang-Daero, Daegu, 42988, South Korea.
authors.forename: Cheol
authors.initials: C
authors.lastname: Song
keywords: (060.2370) Fiber optics sensors; (150.5758) Robotic and machine control; (170.3890) Medical optics instrumentation; (170.4500) Optical coherence tomography