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Bimanual Manipulation of Steady Hand Eye Robots with Adaptive Sclera Force Control: Cooperative vs. Teleoperation Strategies (2402.18088v2)

Published 28 Feb 2024 in cs.RO

Abstract: Performing retinal vein cannulation (RVC) as a potential treatment for retinal vein occlusion (RVO) without the assistance of a surgical robotic system is very challenging to do safely. The main limitation is the physiological hand tremor of surgeons. Robot-assisted eye surgery technology may resolve the problems of hand tremors and fatigue and improve the safety and precision of RVC. The Steady-Hand Eye Robot (SHER) is an admittance-based robotic system that can filter out hand tremors and enables ophthalmologists to manipulate a surgical instrument inside the eye cooperatively. However, the admittance-based cooperative control mode does not safely minimize the contact force between the surgical instrument and the sclera to prevent tissue damage. Additionally, features like haptic feedback or hand motion scaling, which can improve the safety and precision of surgery, require a teleoperation control framework. This work presents a bimanual adaptive teleoperation (BMAT) control framework using SHER 2.0 and SHER 2.1 robotic systems. We integrate them with an adaptive force control (AFC) algorithm to automatically minimize the tool-sclera interaction force. The scleral forces are measured using two fiber Bragg grating (FBG)-based force-sensing tools. We compare the performance of the BMAT mode with a bimanual adaptive cooperative (BMAC) mode in a vessel-following experiment under a surgical microscope. Experimental results demonstrate the effectiveness of the proposed BMAT control framework in performing a safe bimanual telemanipulation of the eye without over-stretching it, even in the absence of registration between the two robots.

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Authors (4)
  1. Mojtaba Esfandiari (13 papers)
  2. Peter Gehlbach (22 papers)
  3. Russell H. Taylor (55 papers)
  4. Iulian Iordachita (33 papers)

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