A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery

摘要: Robotic assistants and smart surgical instruments have been developed to overcome many significant physiological limitations faced by vitreoretinal surgeons, one of which is lack force perception below 7.5 mN. This paper reports the development a new sensor based on fiber Bragg grating (FBG) with ability not just sense forces at tip instrument located inside eye, but also provide information about interaction between shaft sclera. The sclera section provides vital feedback for cooperative robot control minimize potentially dangerous eye. Preliminary results 2×2 degrees-of-freedom (DOF) scaling demonstrate reduction design analysis presented along simulated assisted retinal membrane peeling phantom constraints audio feedback.