Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery
作者： Ankur Gupta , Saurabh Singh , Berk Gonenc , Marin Kobilarov , Iulian Iordachita
DOI: 10.1109/ICSENS.2017.8234019
关键词: Simulation 、 Vitreoretinal surgery 、 Surgical instrument 、 Sclera 、 Computer science
摘要: In vitreoretinal surgery instruments are inserted through the sclera to perform precise surgical maneuvers inside eyeball, which exceeds typical human capabilities. Robotic assistance can enhance skills of a novice surgeon, provide guidance during tool manipulation based on desired behavior defined by expert surgeons' maneuvers, and consequently improve outcome. This paper presents an experimental study characterizing safe/desired magnitude forces between instrument insertion port as function depth. We explore two types regressions, polynomial sum sines fit, describe observed user our one-user pilot study, variable admittance control scheme be implemented robotically guide other users towards this for safe operation.
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