Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery

摘要: Highly accurate positioning is fundamental to the performance of vitreoretinal microsurgery. Of procedures, membrane peeling among most prone complications since extremely delicate manipulation retinal tissue required. Associated tool-to-tissue interaction forces are usually below threshold human perception, and surgical tools moved very slowly, within 0.1–0.5 mm/s range. During procedure, unintentional tool motion excessive can easily give rise vision loss or irreversible damage retina. A successful surgery includes two key features: controlled tremor-free control applied force. In this study, we present potential benefits a micro-force sensing robot in surgery. Our main contribution implementing fiber Bragg grating based force an active tremor canceling handheld micromanipulator, known as Micron, measure real time. Implemented auditory sensory substitution assists reducing limiting forces. order test functionality performance, Micron was evaluated experiments with adhesive bandages inner shell from chicken eggs. findings show that combination together promising aid keeps 7 mN significant reduction 2–20 Hz oscillations.