Safe tissue manipulation in retinal microsurgery via motorized instruments with force sensing

摘要: Retinal microsurgery involves careful manipulation of delicate tissues by applying very small amount forces most which lie below the tactile sensory threshold surgeons. Membrane peeling is a common task in this domain, where application excessive can easily lead to serious complications, hence needs be avoided. To quantify tool-tissue interaction during retinal microsurgery, various force-sensing tools were developed based on fiber Bragg grating sensors, yet beneficial way using acquired force information currently unknown. In study, motorized micro-forceps tool, we develop an assistive method that enhances safety membrane automatically opening forceps and releasing tissue detected forces. Through experiments bandages, demonstrate our effectively maintain at safe level even case non-homogeneous adhesion properties membrane.