| New Steady-Hand Eye Robot with Micro-Force Sensing for Vitreoretinal Surgery. | |
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MedLine Citation:
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PMID: 21461178 Owner: NLM Status: Publisher |
Abstract/OtherAbstract:
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In retinal microsurgery, surgeons are required to perform micron scale maneuvers while safely applying forces to the retinal tissue that are below sensory perception. Real-time characterization and precise manipulation of this delicate tissue has thus far been hindered by human limits on tool control and the lack of a surgically compatible endpoint sensing instrument. Here we present the design of a new generation, cooperatively controlled microsurgery robot with a remote center-of-motion (RCM) mechanism and an integrated custom micro-force sensing surgical hook. Utilizing the forces measured by the end effector, we correct for tool deflections and implement a micro-force guided cooperative control algorithm to actively guide the operator. Preliminary experiments have been carried out to test our new control methods on raw chicken egg inner shell membranes and to capture useful dynamic characteristics associated with delicate tissue manipulations. |
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Authors:
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Ali Uneri; Marcin A Balicki; James Handa; Peter Gehlbach; Russell H Taylor; Iulian Iordachita |
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Publication Detail:
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Type: JOURNAL ARTICLE |
Journal Detail:
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Title: Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Volume: 2010 ISSN: - ISO Abbreviation: - Publication Date: 2010 Sep |
Date Detail:
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Created Date: 2011-4-4 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101521127 Medline TA: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron Country: - |
Other Details:
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Languages: ENG Pagination: 814-819 Citation Subset: - |
Export Citation:
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| MeSH Terms | |
Descriptor/Qualifier:
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| Grant Support | |
ID/Acronym/Agency:
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R01 EB007969-01A1//NIBIB NIH HHS |
From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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