Hybrid Position/force Control of an Active Handheld Micromanipulator for Membrane Peeling

Overview

Journal Int J Med Robot

Publisher Wiley

Specialties Biotechnology
General Surgery

Date 2015 May 13

PMID 25962836

Citations 3

Authors

Trent S Wells

Sungwook Yang

Robert A MacLachlan

Louis A Lobes Jr

Joseph N Martel

Cameron N Riviere

Affiliations

Soon will be listed here.

Abstract

Background: Peeling procedures in retinal surgery require micron-scale manipulation and control of sub-tactile forces.

Methods: Hybrid position/force control of an actuated handheld microsurgical instrument is presented as a means for simultaneously improving positioning accuracy and reducing forces to prevent avoidable trauma to tissue. The system response was evaluated, and membrane-peeling trials were performed by four test subjects in both artificial and animal models.

Results: Maximum force was reduced by 56% in both models compared with position control. No statistically significant effect on procedure duration was observed.

Conclusions: A hybrid position/force control system has been implemented that successfully attenuates forces and minimizes unwanted excursions during microsurgical procedures such as membrane peeling. Results also suggest that improvements in safety using this technique may be attained without increasing the duration of the procedure.

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Evaluation of the Hand Motion and Peeling Force in Inner Limiting Membrane Peeling.

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