Steady-Hand Manipulator for Retinal Surgery

This paper describes the ongoing development of a robotic assistant for microsurgery and other precise manipulation tasks. It reports a new and optimized version of a steady-hand manipulator for retinal surgery. The surgeon and the robot share control of a tool attached to the robot through a force sensor. The robot’s controller senses forces exerted by the operator on the tool and uses this information in various control modes to provide smooth, tremorfree precise positional control and force scaling. The result is a system with a higher efficacy, flexibility and ergonomics while meeting the accuracy and safety requirements of microsurgery.

[1]  M. Patkin.  Ergonomics applied to the practice of microsurgery. , 1977, The Australian and New Zealand journal of surgery.

[2]  H P Weinrib,et al.  Rotational technique and microsurgery , 1984, Microsurgery.

[3]  Kenneth R. Boff,et al.  Engineering data compendium : human perception and performance , 1988 .

[4]  R. E. Williams,et al.  Design of a surgeon-machine interface for teleoperated microsurgery , 1989, Images of the Twenty-First Century. Proceedings of the Annual International Engineering in Medicine and Biology Society,.

[5]  Mark E. Rosheim,et al.  Robot Wrist Actuators , 1989 .

[6]  Lynette A. Jones,et al.  A Teleoperated Microsurgical Robot and Associated Virtual Environment for Eye Surgery , 1993, Presence: Teleoperators & Virtual Environments.

[7]  Arthur C. Sanderson,et al.  Tetrobot: A Modular Approach to Reconfigurable Parallel Robotics , 1997 .

[8]  Russell H. Taylor,et al.  A Steady-Hand Robotic System for Microsurgical Augmentation , 1999 .

[9]  Russell H. Taylor,et al.  An Augmentation System for Fine Manipulation , 2000, MICCAI.

[10]  Cameron N. Riviere,et al.  Physiological tremor amplitude during retinal microsurgery , 2002, Proceedings of the IEEE 28th Annual Northeast Bioengineering Conference (IEEE Cat. No.02CH37342).

[11]  Russell H. Taylor,et al.  Medical robotics in computer-integrated surgery , 2003, IEEE Trans. Robotics Autom..

[12]  Keiji Sasaki,et al.  Development of remote microsurgery robot and new surgical procedure for deep and narrow space , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).