A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery
Open accessAbstract
PURPOSE: Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening. METHODS: We present the design and analysis of a force measurement device that senses distal forces interior to the sclera using 1-cm long, 160 microm diameter Fiber Bragg Grating (FBG) strain sensors embedded in a 0.5 mm diameter tool shaft. Additionally, we provide an algorithm developed to cancel the influence of environmental temperature fluctuations. RESULTS: The force-sensing prototype measures forces with a resolution of 0.25 mN in 2 DOF while being insensitive to temperature. CONCLUSION: Sub-millinewton resolution force sensors integrated into microsurgical instruments are feasible and have potential applications in both robotic and freehand microsurgery.
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Micron is a handheld actively stabilized 3-DOF micromanipulator designed to remove unintentional motion and enhance positional accuracy.
“Micron is a handheld actively stabilized 3-DOF micromanipulator that is mainly designed to remove unintentional motion and enhance positional accuracy [16].”
From Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery (2012) · cites this paper as [16]
The Introduction discusses imprecise movements caused by physiological tremor, but does not describe Micron. Searches for Micron and active stabilization found no passage identifying it as a handheld 3-DOF micromanipulator or stating its design purpose. The paper instead describes a force-sensing tool. (LLM, conf=0.76)
Experimental — accuracy not yet measuredMicron can sense its own motion, estimate the undesired hand tremor component in real time, and move its tip to counteract this component.
“This micromanipulator robot can sense its own motion, estimate the undesired hand tremor component in real time, and moves the tool tip relative to the handle to counteract this component.”
From Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery (2012) · cites this paper as [16]
The Introduction identifies physiological tremor as a limitation of retinal microsurgery, but does not describe a device that cancels it. The Results describe force sensing at the tool tip, not sensing motion, estimating tremor in real time, or moving the tip relative to the handle. Searches for Micron and tremor-cancellation mechanisms found no passage addressing those capabilities. (LLM, conf=0.76)
Experimental — accuracy not yet measured
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“The pseudo-inverse of the obtained calibration matrix (K+) is used in the linear relationship given by (1) to calculate force (F) from FBG wavelength shift (LS) [26].”
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Self-citation
- Authors
- Iordachita, I., Sun, Z., Balicki, M., Kang, J. U., Phee, S. J., Handa, J., Gehlbach, P., & Taylor, R.
- Affiliations
- Johns Hopkins University (US)
- Nanyang Technological University (SG)
- Corresponding author
- Iordachita, Iulian
- ORCID
- Venue
- International Journal of Computer Assisted Radiology and Surgery
- Published
- 2009-04-15
- Volume
- 4
- Issue
- 4
- Pages
- 383-390
- ISSN
- 1861-6410 (ISSN-L)
- 1861-6429
- PMC
- PMC2801926
- OpenAlex
- W1974070762
- Cited by
- 181
- References
- 11
- Citations by year
- 2026: 5 · 2025: 9 · 2024: 5 · 2023: 13 · 2022: 11 · 2021: 10 · 2020: 10 · 2019: 14 · 2018: 12 · 2017: 10 · 2016: 13 · 2015: 8 · 2014: 15 · 2013: 18 · 2012: 13
- FWCI
- 7.14
- Type
- journal article
- Language
- en
- Open access
- hybrid
- doi.org
- Licence
- Locations
- International Journal of Computer Assisted Radiology and Surgery (publishedVersion, cc-by-nc)
- PubMed (publishedVersion)
- PubMed Central (acceptedVersion)
- Funders
- National Science Foundation
- Johns Hopkins University
- National Institutes of Health
- National Institute of Biomedical Imaging and Bioengineering (R01EB007969)
- Topics
- Physical Sciences › Engineering › Electrical and Electronic Engineering › Advanced Fiber Optic Sensors
- Health Sciences › Medicine › Radiology, Nuclear Medicine and Imaging › Retinal and Macular Surgery
- Health Sciences › Medicine › Ophthalmology › Intraocular Surgery and Lenses
- Keywords
- retinal microsurgery, fiber Bragg grating strain sensors, sclerotomy, temperature compensation, microsurgical instruments, robotic microsurgery
- MeSH terms
- Calibration, Equipment Design, Fiber Optic Technology, Humans, Microsurgery, Retinal Diseases, Sclera, Surgery, Computer-Assisted
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