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

Wells, Trent S.; Yang, Sungwook; MacLachlan, Robert A.; Lobes, Louis A.; Martel, Joseph N.; Riviere, Cameron N.

doi:10.1002/rcs.1659

Cited by 14 publications

(13 citation statements)

References 44 publications

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“…Experiments on bandages and raw chicken eggs have revealed that controlled micro-vibrations provide ease in delaminating membranes. Automatic force-limiting control has also been demonstrated with the 6-DoF Micron system for membrane peeling using a parallel force/position control system [202].…”

Section: Closed-loop Control For Handheld Systemsmentioning

confidence: 99%

Robotic Retinal Surgery

Poorten

Riviere

Abbott

et al. 2020

Handbook of Robotic and Image-Guided Surgery

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Section: Closed-loop Control For Handheld Systemsmentioning

confidence: 99%

Robotic Retinal Surgery

Poorten

Riviere

Abbott

et al. 2020

Handbook of Robotic and Image-Guided Surgery

Self Cite

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“…The single-leader-single-follower topology (SL/SF, see Figure 4) has been used, as mentioned before, to augment human sensorimotor competence [28,86]. A successful example of an SL/SF telerobotic system is the da Vinci Surgical System [23], using which it is now possible to conduct minimally invasive laparoscopic surgeries inside a patient's body with an ultra-precision, reliability, and safety [65,87,88]. This topology transfers the pose commands of the surgeon collected by the leader console to the follower robot inserted through small incisions inside the patient body to conduct the surgery under the direct control of the surgeon while augmenting the sensory and motor skills of the surgeons [65,[87][88][89][90], as explained in the next subsections.…”

Section: Single-leader Single-follower Topology (Sl/sf)mentioning

confidence: 99%

Review of Advanced Medical Telerobots

et al. 2020

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The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with this technology. In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation. In this regard, there has been a significant amount of research and development due to the major benefits in terms of medical outcomes. Recently telerobotic systems are combined with advanced artificial intelligence modules to better share the agency with the operator and open new doors of medical automation. In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots. Existing challenges, including instrumentation, transparency, autonomy, stochastic communication delays, and stability, in addition to the current direction of research related to benefit in telemedicine and medical automation, and future vision of this technology, are discussed in this review paper.

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“…It must be noted however, that providing direct force feedback is not the only approach taken by researchers for reducing applied force in retinal membrane peeling. In [140] for example, an active handheld micromanipulator [141] is implemented under a hybrid position/force control schema that is shown to reduce the maximum force by more than 50% in experiments on both artificial and animal models. Table III, summarizes the research studies that have investigated the effects of haptic feedback in robot-assisted surgery.…”

Section: E Microsurgical Tasksmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

202

131

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Abstract-Robotic surgery is transforming the current surgical practice, not only by improving the conventional surgical methods but also by introducing innovative robot-enhanced approaches that broaden the capabilities of clinicians. Being mainly of manmachine collaborative type, surgical robots are seen as media that transfer pre-and intra-operative information to the operator and reproduce his/her motion, with appropriate filtering, scaling, or limitation, to physically interact with the patient. The field, however, is far from maturity and, more critically, is still a subject of controversy in medical communities. Limited or absent haptic feedback is reputed to be among reasons that impede further spread of surgical robots. In this paper objectives and challenges of deploying haptic technologies in surgical robotics is discussed and a systematic review is performed on works that have studied the effects of providing haptic information to the users in major branches of robotic surgery. It has been tried to encompass both classical works and the state of the art approaches, aiming at delivering a comprehensive and balanced survey both for researchers starting their work in this field and for the experts.

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

Cited by 14 publications

References 44 publications

Robotic Retinal Surgery

Robotic Retinal Surgery

Review of Advanced Medical Telerobots

Haptics in Robot-Assisted Surgery: Challenges and Benefits

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