Hybrid position/force control of an active handheld micromanipulator for membrane peeling

作者：Wells Trent S; Yang Sungwook; MacLachlan Robert A; Lobes Louis A Jr; Martel Joseph N; Riviere Cameron N^*

来源：International Journal of Medical Robotics and Computer Assisted Surgery, 2016, 12(1): 85-95.

DOI：10.1002/rcs.1659

• accuracy enhancement
• microsurgery
• force control
• tremor compensation

BackgroundPeeling procedures in retinal surgery require micron-scale manipulation and control of sub-tactile forces.
MethodsHybrid position/force control of an actuated handheld microsurgical instrument is presented as a means for simultaneously improving positioning accuracy and reducing forces to prevent avoidable trauma to tissue. The system response was evaluated, and membrane-peeling trials were performed by four test subjects in both artificial and animal models.
ResultsMaximum force was reduced by 56% in both models compared with position control. No statistically significant effect on procedure duration was observed.
ConclusionsA hybrid position/force control system has been implemented that successfully attenuates forces and minimizes unwanted excursions during microsurgical procedures such as membrane peeling. Results also suggest that improvements in safety using this technique may be attained without increasing the duration of the procedure.

• 出版日期2016-3