A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery
- 1.4k Downloads
Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening.
We present the design and analysis of a force measurement device that senses distal forces interior to the sclera using 1-cm long, 160 μm diameter Fiber Bragg Grating (FBG) strain sensors embedded in a 0.5 mm diameter tool shaft. Additionally, we provide an algorithm developed to cancel the influence of environmental temperature fluctuations.
The force-sensing prototype measures forces with a resolution of 0.25 mN in 2 DOF while being insensitive to temperature.
Sub-millinewton resolution force sensors integrated into microsurgical instruments are feasible and have potential applications in both robotic and freehand microsurgery.
KeywordsMicrosurgery Force sensor Surgical instruments Computer-assisted surgery
- 2.Gupta PK, Jensen PS, de Juan E Jr (1999) Surgical forces and tactile perception during retinal microsurgery, MICCAI’99. LNCS 1679: 1218–1225Google Scholar
- 3.Iordachita I et al (2006) Steady-hand manipulator for retinal surgery. In: Proceedings of the MICCAI medical robotics workshopGoogle Scholar
- 4.Mitchell B et al (2007) Development and application of a New steady-hand manipulator for retinal surgery. In: Proceedings of the IEEE international conference robotics & automation. Rome, pp 623–629Google Scholar
- 6.Zhou Y, Nelson BJ, Vikramaditya B (1998) Fusing force and vision feedback for micromanipulation. In: Proceedings of the IEEE international conference in robotics & automation, Leuven, Belgium, pp 1220–1225Google Scholar
- 7.Kim K, Sun Y, Voyles R, Nelson B (2007) Calibration of multi-axis MEMS force sensors using the shape-from-motion method. IEEE Sens J 7(3):. doi: 10.1109/JSEN.2006.890141
- 8.Menciassi A, Eisinberg A, Scalari G, Anticoli C, Carrozza MC, Dario P (2001) Force feedback-based microinstrument for measuring tissue properties and pulse in microsurgery. In: Proceedings of the IEEE international conference robotics & automation, Seoul, Korea (South), pp 626–631Google Scholar
- 10.Berkelman PJ, Whitcomb LL, Taylor RH, Jensen P (2000) A miniature Instrument Tip Force Sensor for Robot/Human Cooperative Microsurgical Manipulation with Enhanced Force Feedback. In: Medical Image Computing and Computer-Assisted Interventions, Pittsburgh, pp 897–906Google Scholar
- 11.Jagtap D, Riviere CN (2004) Applied force during vitreoretinal microsurgery with handheld instruments. In: Proc 26th IEEE engineering in medicine and biology conference (EMBS), San Francisco, pp 2771–2773Google Scholar