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

Title
Hybrid position/force control of an active handheld micromanipulator for membrane peeling
Authors
양성욱Trent S. WellsRobert A. MacLachlanLouis A. Lobes JrJoseph N. MarteCameron N. Riviere
Keywords
accuracy enhancement; microsurgery; force control; tremor compensation
Issue Date
2016-05
Publisher
International Journal of Medical Robotics and Computer Assisted Surgery
Citation
VOL 12, NO 1, 85-95
Abstract
Background Peeling procedures in retinal surgery require micron-scale manipulation and control of sub-tactile forces. Methods Hybrid 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. Results Maximum force was reduced by 56% in both models compared with position control. No statistically significant effect on procedure duration was observed. Conclusions A 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.
URI
http://pubs.kist.re.kr/handle/201004/59190
ISSN
14785961
Appears in Collections:
KIST Publication > Article
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