Cooperative Robot Assistant for Retinal Microsurgery

Authors:
Ioana Fleming;Marcin Balicki;John Koo;Iulian Iordachita;Ben Mitchell;James Handa;Gregory Hager;Russell Taylor
Affiliations:
ERC for Computer Integrated Surgery, Johns Hopkins University,;ERC for Computer Integrated Surgery, Johns Hopkins University,;Wilmer Eye Institute, Johns Hopkins Medical, Baltimore, USA;ERC for Computer Integrated Surgery, Johns Hopkins University,;ERC for Computer Integrated Surgery, Johns Hopkins University,;Wilmer Eye Institute, Johns Hopkins Medical, Baltimore, USA;ERC for Computer Integrated Surgery, Johns Hopkins University,;ERC for Computer Integrated Surgery, Johns Hopkins University,
Venue:
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Year:
2008

Citing 2
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Abstract

This paper describes the development and results of initial testing of a cooperative robot assistant for retinal microsurgery. In the cooperative control paradigm, the surgeon and the robot share control of a tool attached to the robot through a force sensor. The system 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 robot manipulator is specifically designed with retinal microsurgery in mind, having high efficacy, flexibility and ergonomics while meeting the accuracy and safety requirements of microsurgery. We have tested this robot on a biological model and we report the results for reliably cannulating ~80 μm diameter veins (equivalent in size to human retinal veins). We also describe improvements to the robot and the experimental setup facilitating more advanced set of experiments.