Towards Robot-Assisted Vitreoretinal Surgery: Force-Sensing Micro-Forceps Integrated with a Handheld Micromanipulator
作者： Berk Gonenc , Ellen Feldman , Peter Gehlbach , James Handa , Russell H. Taylor
DOI: 10.1109/ICRA.2014.6907035
关键词:
摘要: In vitreoretinal practice, controlled tremor-free motion and limitation of applied forces to the retina are two highly desired features. This study addresses both requirements with a new integrated system: force-sensing motorized micro-forceps combined an active tremor-canceling handheld micromanipulator, known as Micron. The is 20 Ga instrument that mechanically decoupled from its handle senses transverse at tip accuracy 0.3 mN. Membrane peeling trials on bandage phantom revealed 60-95% reduction in 2-20 Hz band force position spectra, while remained below set safety threshold.
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