Development and Application of a New Steady-Hand Manipulator for Retinal Surgery

This paper describes the development and initial testing of a new and optimized version of a steady-hand manipulator for retinal microsurgery. In the steady-hand paradigm, the surgeon and the robot share control of a tool attached to the robot through a force sensor. The robot controller senses forces exerted by the operator on the tool and uses this information in various control modes to provide smooth, tremor-free, precise positional control and force scaling. The steady-hand manipulator reported here has been specifically designed with the unique constraints of retinal microsurgery in mind. In particular, the system makes use of a compact wrist design that places the bulk of the robot away from the operating field. The resulting system has high efficacy, flexibility and ergonomics while meeting the accuracy and safety requirements of microsurgery. We have now tested this robot on a biological model system and we report a protocol for reliably cannulating ~80 mum OD veins (the size of veins in the human retina) using the system

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

[2]  Eberhard Spoerl,et al.  Influence of Indocyanine Green Staining on the Biomechanical Strength of Porcine Internal Limiting Membrane , 2004, Ophthalmologica.

[3]  Gregory D. Hager,et al.  Human-Machine Collaborative Systems for Microsurgical Applications , 2005, Int. J. Robotics Res..

[4]  Russell H. Taylor,et al.  A Steady-Hand Robotic System for Microsurgical Augmentation , 1999, Int. J. Robotics Res..

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

[6]  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).

[7]  Gregory D. Hager,et al.  Vision-assisted control for manipulation using virtual fixtures , 2001, IEEE Transactions on Robotics.

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

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

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

[11]  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,.

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

[13]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[14]  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).

[15]  M. Patkin.  ERGONOMICS APPLIED TO THE PRACTICE OF MICROSURGERY1 , 1977 .

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

[17]  Russell H. Taylor,et al.  Medical Robotic Systems in Computer-Integrated Surgery , 2003 .

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

[19]  Kalayaan V. Bilbao,et al.  THE CHICK CHORIOALLANTOIC MEMBRANE AS A MODEL TISSUE FOR SURGICAL RETINAL RESEARCH AND SIMULATION , 2004, Retina.

[20]  Allison M. Okamura,et al.  Virtual fixture architectures for telemanipulation , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[21]  P ? ? ? ? ? ? ? % ? ? ? ? , 1991 .

[22]  A. D. Smith,et al.  IBRO handbook series. Methods in the neurosciences , 1983 .

[23]  Russell H. Taylor,et al.  Constrained control for surgical assistant robots , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

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