Optimization-based Concurrent Control of a High Dexterity Robot for Vitreoretinal Surgery | IEEE Conference Publication | IEEE Xplore

Optimization-based Concurrent Control of a High Dexterity Robot for Vitreoretinal Surgery


Abstract:

Vitreoretinal surgery requires dexterity and force sensitivity from the clinician. A system to cooperatively control an integrated surgical robot for high dexterity manip...Show More

Abstract:

Vitreoretinal surgery requires dexterity and force sensitivity from the clinician. A system to cooperatively control an integrated surgical robot for high dexterity manipulation within the eye’s vitreous space was developed and validated in simulation. The system is composed of a 2 degrees of freedom (DoF) snake-like continuum manipulator that is attached to the end-effector of a 5-DoF rigid robot arm. It is capable of receiving position and orientation commands from a 5-DoF input device in real-time, as well as following pre-planned trajectories. The manipulator is moved to each target pose in real-time, using an optimization method to calculate the inverse kinematics solution. Constraints on the position and orientation ensure the target pose does not harm the patient within the vitreous space, enabling the robot to safely assist the clinician with vitreoretinal surgery when operating in real-time. The simulation demonstrates the system’s feasibility and benefits over the existing non-dexterous system.
Date of Conference: 13-15 April 2022
Date Added to IEEE Xplore: 28 June 2022
ISBN Information:

ISSN Information:

PubMed ID: 36212509
Conference Location: GA, USA

Funding Agency:


I. Introduction

Vitreoretinal surgery requires advanced skills at or over the limit of clinicians’ physiological capabilities. This type of surgery is performed in a confined space with restricted free motion of surgical tools. Insertion via a sclerotomy (an incision in the sclera of the eye) limits how the clinician can hold the tool. The forces exerted between ophthalmic tools and eye tissue are often well below human sensory thresholds [1]. For Epiretinal Membrane (ERM) peeling surgery [2], where a micron-scale internal limiting membrane on the retinal surface is removed (Fig. 1, A), the forces exerted by the surgeon are required to be less than 7.5 millinewtons to avoid irreversible damage to the retina [1]. As such the benefits of surgical robots can be exploited to improve patient care during vitreoretinal surgery.

References

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