Design of a teleoperated robotic system for retinal surgery

Retinal surgery is one of the most challenging types of surgery because of the scale and the fragility of the human eye anatomy. The surgeon suffers from limited positioning accuracy, tremor and poor force feedback directly affecting the quality of the surgical procedures. To tackle these issues, we developed a teleoperation system to assist surgeons during retinal surgery. The system offers features like motion scaling, tremor compensation and scaled force feedback. This paper reports on the design of the slave and the master.

[1]  Wei Wei,et al.  Design and Theoretical Evaluation of Micro-Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[2]  Cameron N. Riviere,et al.  A study of instrument motion in retinal microsurgery , 2000, Proceedings of the 22nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (Cat. No.00CH37143).

[3]  A. Guerrouad,et al.  SMOS: stereotaxical microtelemanipulator for ocular surgery , 1989, Images of the Twenty-First Century. Proceedings of the Annual International Engineering in Medicine and Biology Society,.

[4]  Russell H. Taylor,et al.  New steady-hand Eye Robot with micro-force sensing for vitreoretinal surgery , 2010, 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

[5]  Dominiek Reynaerts,et al.  Precision experiments on a comanipulated robotic system for use in retinal surgery , 2011 .

[6]  Patrick S. Jensen,et al.  Surgical Forces and Tactile Perception During Retinal Microsurgery , 1999, MICCAI.

[7]  Alois Knoll,et al.  The introduction of a new robot for assistance in ophthalmic surgery , 2013, 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).

[8]  Dominiek Reynaerts,et al.  Design and realisation of a novel robotic manipulator for retinal surgery , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Cameron N. Riviere,et al.  Design and analysis of 6 DOF handheld micromanipulator , 2012, 2012 IEEE International Conference on Robotics and Automation.

[10]  H. Das,et al.  Dexterity-enhanced telerobotic microsurgery , 1997, 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97.

[11]  Hcm Thijs Meenink,et al.  A master-slave robot for vitreo-retinal eye surgery , 2010 .

[12]  S. Bi,et al.  Classification and type synthesis of 1-DOF remote center of motion mechanisms , 2008 .

[13]  N. Brown,et al.  Dimensions of the human eye relevant to radiation protection. , 1975, Physics in medicine and biology.