Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery
Open accessAbstract
Highly accurate positioning is fundamental to the performance of vitreoretinal microsurgery. Of vitreoretinal procedures, membrane peeling is among the most prone to complications since extremely delicate manipulation of retinal tissue is required. Associated tool-to-tissue interaction forces are usually below the threshold of human perception, and the surgical tools are moved very slowly, within the 0.1-0.5 mm/s range. During the procedure, unintentional tool motion and excessive forces can easily give rise to vision loss or irreversible damage to the retina. A successful surgery includes two key features: controlled tremor-free tool motion and control of applied force. In this study, we present the potential benefits of a micro-force sensing robot in vitreoretinal surgery. Our main contribution is implementing fiber Bragg grating based force sensing in an active tremor canceling handheld micromanipulator, known as Micron, to measure tool-to-tissue interaction forces in real time. Implemented auditory sensory substitution assists in reducing and limiting forces. In order to test the functionality and performance, the force sensing Micron was evaluated in peeling experiments with adhesive bandages and with the inner shell membrane from chicken eggs. Our findings show that the combination of active tremor canceling together with auditory sensory substitution is the most promising aid that keeps peeling forces below 7 mN with a significant reduction in 2-20 Hz oscillations.
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Cites
Statistics
Claims the paper makes
5 of 18 cited sources checked · 0 supported · 0 flagged · accuracy not yet measured
- Premisecitation
Unintentional tool motion and excessive forces during membrane peeling can cause vision loss or irreversible retinal damage.
“unintentional tool motion and excessive forces can easily give rise to vision loss or irreversible damage to the retina”
Quote in the paperSubstantial claim2 of 4 sources checked- cites [2] source
- cites [3] source
- cites [4] source
The Introduction (page unavailable) links hand tremor and other sources of imprecise tool motion, along with excessive retinal forces, to surgical complications that may cause vision loss. Methods §III.C (page unavailable) also links excessive or incorrectly applied forces to complications. Our copy does not specifically establish irreversible retinal damage or characterize these outcomes as occurring easily. (LLM, conf=0.86)
Experimental — accuracy not yet measured - cites [5] source
The Introduction’s discussion of microsurgical manipulation aids says that forces too small for a surgeon to feel can still create damaging pressure, and the Introduction describes involuntary tool motion as a source of positioning error. The cited passages do not establish that these factors during membrane peeling can easily cause vision loss or irreversible retinal damage. (LLM, conf=0.84)
Experimental — accuracy not yet measured
- Premisecitation
The bandage phantom and the inner shell membrane of raw chicken eggs have previously been reported and used as suitable surrogates for an epiretinal membrane.
“Tests were done on two types of phantoms, which have previously been reported and used in our laboratory as suitable surrogates for an epiretinal membrane: bandage phantom[29], inner shell membrane of raw chicken eggs[15].”
Quote in the paperSubstantial claim1 of 2 sources checked- cites [29]
Couldn’t be matched to a paper in Crossref, so it can’t be checked.
- cites [15] source
The citation [15] is attached to the raw chicken egg inner-shell membrane, not the bandage phantom [29]. The Methodology (p. 1) describes membrane peeling in rabbit eyes and vessel procedures in porcine retina; the Discussion (p. 2) compares the peeling task with epiretinal membrane peeling. Searches for chicken eggs, shell membrane, and phantoms found no passage reporting or using egg membrane as a surrogate. (LLM, conf=0.77)
Experimental — accuracy not yet measured
- Findingown data
In frequency analysis of bandage phantom trials, force magnitude between 2 and 20 Hz was greatly reduced both with and without auditory force feedback.
“Beyond 2 Hz until 20 Hz, the magnitude of forces is greatly reduced in both the absence and presence of auditory force feedback.”
Quote in the paperNot a substantial claim - Findingown data
In free-hand peeling on chicken egg membrane, a 10 Hz peak was observed and disappeared upon activation of Micron.
“In free-hand peeling tests (red line in Fig. 9), a peak was observed again at 10 Hz, which disappeared upon activation of Micron (blue line in Fig. 9).”
Quote in the paperSubstantial claim- The authors state this as an assumption: The membrane structure of chicken eggs does not vary significantly between eggs.
- Findingown data
With Micron alone on bandage phantom, forces in the danger zone still occurred due to lack of force feedback.
“However, still, forces in danger zone were observed due lack of force feedback.”
Quote in the paperSubstantial claim
- Findingown data
Activating Micron significantly reduced high-frequency oscillations in peeling forces on bandage phantom.
“Upon activation of Micron, these oscillations were significantly reduced.”
Quote in the paperSubstantial claim - Findingown data
When Micron was used together with auditory sensory substitution on chicken egg membrane, the operation was accomplished within the desired zone.
“When Micron was used together with auditory sensory substitution, the operation was accomplished within the desired zone successfully.”
Quote in the paperSubstantial claim- The authors state this as an assumption: The membrane structure of chicken eggs does not vary significantly between eggs.
- Findingown data
Micron eliminated high-frequency oscillations in peeling forces on chicken egg membrane.
“Micron was successful in eliminating these high frequency oscillations (Fig. 8.b)”
Quote in the paperSubstantial claim- The authors state this as an assumption: The membrane structure of chicken eggs does not vary significantly between eggs.
- Findingown data
In free-hand membrane peeling on bandage phantom, forces exceeding 7 mN were recorded with high-frequency oscillations.
“In the absence of auditory and tremor suppression aids, peeling forces exceeding 7 mN were recorded with high frequency oscillations.”
Quote in the paperSubstantial claim - Findingown data
Auditory feedback reduced overall forces below the safety threshold on chicken egg membrane.
“while auditory feedback reduced overall forces below the safety threshold (Fig. 8.c).”
Quote in the paperSubstantial claim- The authors state this as an assumption: The membrane structure of chicken eggs does not vary significantly between eggs.
- Findingown data
Frequency analysis of forces on chicken egg membrane revealed a significant reduction between 2-10 Hz in Micron-activated compared to Micron-deactivated cases.
“Frequency analysis of forces measured in Micron-activated and Micron-deactivated cases revealed a significant reduction between 2–10 Hz, which is shown in Fig.9.”
Quote in the paperSubstantial claim- The authors state this as an assumption: The membrane structure of chicken eggs does not vary significantly between eggs.
- Findingown data
On chicken egg membrane, forces could still exceed safety limits when no auditory guidance was provided, even with Micron.
“Despite this improvement, the forces still could go beyond the safety limits when no auditory guidance was provided.”
Quote in the paperSubstantial claim- The authors state this as an assumption: The membrane structure of chicken eggs does not vary significantly between eggs.
- Study design and conductreasoning
The study implemented auditory sensory substitution to work jointly with Micron's tremor canceling control loop.
“For simultaneous control of tool position and force, we implemented auditory sensory substitution to work jointly with Micron's own tremor canceling control loop.”
Quote in the paperSubstantial claim- Rests on an assumption: Micron does not provide any feedback or limitation on applied forces during surgery.
- Premisecitation
Incorporating force sensing elements along the distal portion of the instrument shaft, inside the eye, overcomes the limitations of handle-mounted force sensors.
“This limitation can be overcome by incorporating force sensing elements along the distal portion of the instrument shaft, such that the active sensing part of the sensor is completely situated along the tool shaft inside the eye [26].”
Quote in the paperSubstantial claim0 of 1 sources checked- cites [26] source
- Premisecitation
During membrane peeling, instruments are moved at speeds between 0.1 and 0.5 mm/s.
“the instruments are moved very slowly, within a range of 0.1–0.5 mm/s”
Quote in the paperNot a substantial claim0 of 1 sources checked- cites [29]
Couldn’t be matched to a paper in Crossref, so it can’t be checked.
- Study design and conductnone given
Micron's ASAP optical sensors can track the tool only when it is held within a certain orientation and position range.
“Another limitation of Micron is its ASAP optical sensors, which can track the tool only when held in a certain orientation and position range.”
Quote in the paperSubstantial claim - Premisereasoning
A handle-mounted force sensor is not practical for vitreoretinal surgery because friction and other forces between the tool and trocar can attenuate or distort force propagation to tissues inside the eye.
“Therefore, a handle mounted force sensor is not practical for vitreoretinal surgery.”
Quote in the paperSubstantial claim0 of 1 sources checked- cites [25] source
- Premisecitation
Forces associated with vitreoretinal microsurgery are routinely less than 7.5 mN.
“The forces associated with vitreoretinal microsurgery are routinely less than 7.5 mN [22].”
Quote in the paperSubstantial claim0 of 1 sources checked- cites [22] source
- Interpretationown data
Preliminary tests on two phantom types show that Micron with integrated force sensing is an attractive solution for vitreoretinal surgery.
“Our preliminary tests on two types of phantoms have shown that Micron, with integrated force sensing capabilities, is an attractive solution for vitreoretinal surgery.”
Quote in the paperSubstantial claim - Interpretationreasoning
Measuring forces in vitreoretinal microsurgery requires a sensing instrument with sub-mN accuracy.
“Measuring these forces demand a sensing instrument with sub-mN accuracy.”
Quote in the paperSubstantial claim - Interpretationown data
Mapping force information into auditory signals in real time can keep forces below a safety threshold throughout the operation.
“By mapping this information into auditory signals in real time, the forces could be kept below a safety threshold throughout the operation.”
Quote in the paperSubstantial claim- Rests on an assumption: Micron does not provide any feedback or limitation on applied forces during surgery.
- Study design and conductnone given
The 2-DOF hook tool used with Micron cannot measure axial forces.
“In this study, we used a 2-DOF hook tool with Micron. A limitation of this approach is the inability to measure axial forces.”
Quote in the paperSubstantial claim - Interpretationreasoning
Resolving the limitations of the 2-DOF tool and ASAP sensors would allow more realistic circular trajectories to be followed better during membrane peeling.
“Resolving these limitations, more realistic circular trajectories can be followed better during membrane peeling operation.”
Quote in the paperSubstantial claim - Premisecitation
The bandwidth of human eye-hand feedback is usually from 0.5 Hz to 2 Hz.
“The bandwidth of human eye-hand feedback usually is from 0.5 Hz to 2 Hz [28].”
Quote in the paperSubstantial claim0 of 1 sources checked- cites [28] source
- Study design and conductcitation
The study used a hook tool with three integrated FBG sensors based on the design of Iordachita et al.
“a hook tool with 3 integrated FBG sensors was manufactured following the design of Iordachita et al. as shown in Fig. 1 [26].”
Quote in the paperNot a substantial claim0 of 1 sources checked- cites [26] source
- Premisecitation
The 10 Hz peak in force spectra primarily stems from postural hand tremor, which occurs at about 8-10 Hz in normal humans.
“The prominence of the 10 Hz peak in both figures primarily stems from postural hand tremor as it occurs at a frequency between about 8–10 Hz in normal humans[28].”
Quote in the paperNot a substantial claim0 of 1 sources checked- cites [28] source
- Premisecitation
Tool-to-tissue interaction forces during vitreoretinal procedures are typically below the level a surgeon can feel.
“Associated tool-to-tissue interaction forces are usually below the threshold of human perception”
Quote in the paperSubstantial claim0 of 1 sources checked- cites [22] source
- May combine two claims. 16
- Classified as probably not a substantial claim. 7
- The quote only partly states this claim. 1
May combine two claims.
PremisecitationMicron 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.”
Quote in the paperSubstantial claim1 of 1 sources checked- cites [16] source
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
Classified as probably not a substantial claim. May combine two claims.
PremisecitationMicron 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].”
Quote in the paperSubstantial claim1 of 1 sources checked- cites [16] source
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 measured
May combine two claims.
Findingown dataIn free-hand peeling on chicken egg membrane, high force variations with occasional non-safe forces were observed.
“In free hand tests (Fig. 8.a), high force variations with occasional non-safe forces were observed.”
Quote in the paperSubstantial claim- The authors state this as an assumption: The membrane structure of chicken eggs does not vary significantly between eggs.
May combine two claims.
Findingown dataThe combination of active tremor canceling and auditory sensory substitution on bandage phantom kept peeling forces within the safe operation zone and free of high-frequency oscillations, providing the best performance.
“In the last case, combination of active tremor canceling together with auditory sensory substitution provided the best performance, where peeling forces were kept within the safe operation zone free of high frequency oscillations.”
Quote in the paperSubstantial claimMay combine two claims.
Findingown dataThe recorded reduction in force magnitude between 2 and 20 Hz was 60%-90% with auditory sensory substitution and 70%-90% without it.
“In this range, the recorded reduction is 60%–90% with auditory sensory substitution, and 70%–90% without auditory sensory substitution as shown in Fig. 7.a and 7.b respectively.”
Quote in the paperSubstantial claimMay combine two claims.
Findingown dataWith auditory sensory substitution alone on bandage phantom, almost all forces were kept below the safety threshold, but high-frequency oscillations remained in speed and force.
“When auditory sensory substitution was used alone, almost all forces were kept below the safety threshold successfully, nevertheless with high frequency oscillations, which appeared both in speed and force plots.”
Quote in the paperSubstantial claimClassified as probably not a substantial claim. May combine two claims.
InterpretationreasoningThe sensing instrument must be able to pass through a 25 Ga sclerotomy opening so that the sensor can be located close to the tool tip, ensuring force measurements pertain solely to the instrument tip without sclera contribution.
“Furthermore, the sensing instrument should be able to pass through a 25 Ga sclerotomy opening so that the sensor can be located close to the tool tip. Only in this way, can force measurements pertain solely to the instrument’s tip, with no contribution from the sclera.”
Quote in the paperSubstantial claimMay combine two claims.
InterpretationreasoningMicro-force sensing Micron responds to two critical requirements of vitreoretinal surgery: tremor-free positioning and force limitation.
“Providing these two advantages on a single surgical tool, micro-force sensing Micron is able to respond to two of the most critical requirements of vitreoretinal surgery.”
Quote in the paperSubstantial claimMay combine two claims.
PremisecitationContinuous real-time auditory feedback representing applied force can be a clearer cue and significantly improve performance in complex surgery.
“It was previously shown by Kitagawa et al. that continuous real-time auditory feedback representing applied force could be a clearer cue and thus significantly improve the performance in complex surgery [27].”
Quote in the paperSubstantial claim0 of 1 sources checked- cites [27] source
Probably not a substantial claim: may not pass S3 (load-bearing).
Study design and conductnone givenFive trials were performed in random order for each scenario.
“Five trials were performed in random order for each of these scenarios.”
Quote in the paperNot a substantial claimMay combine two claims.
InterpretationreasoningFBG-based force sensing instruments can directly inform the surgeon of delicate peeling forces without adverse effect from tool-to-sclera interaction.
“On the other hand, FBG based force sensing instruments could directly inform the surgeon of the extremely delicate peeling forces with no adverse effect from tool-to-sclera interaction.”
Quote in the paperNot a substantial claimMay combine two claims.
Interpretationown dataMicron alone provides tremor-free and accurate positioning control and greatly reduces force oscillations between 2-20 Hz.
“Micron alone could provide tremor free and accurate positioning control as well as a great reduction in force oscillations between 2–20 Hz.”
Quote in the paperSubstantial claimProbably not a substantial claim: may not pass S2 (checkable).
InterpretationreasoningThe presented micromanipulator can be a viable option not only for membrane peeling but also for other microsurgical procedures where positioning accuracy and force limitation problems coexist.
“With its position and force sensing capabilities and intuitive feedback, we believe that the presented micromanipulator can be a viable option not only for membrane peeling but also for many other microsurgical procedures where positioning accuracy and force limitation problems coexist and need to be addressed together.”
Quote in the paperNot a substantial claimProbably not a substantial claim: may not pass S4 (based).
Premisenone givenThe chicken egg inner shell membrane phantom accounts for biological factors such as heterogeneous tissue structure and its effect on force, unlike bandage phantoms.
“Unlike the bandages, this phantom accounted for biological factors such as heterogeneous tissue structure and its effect on force.”
Quote in the paperNot a substantial claimProbably not a substantial claim: may not pass S3 (load-bearing). May combine two claims.
Study design and conductnone givenThe auditory feedback system uses three safety zones: silent below 1 mN, slow beeping between 1 and 3.5 mN (safe), increasing tempo between 3.5 and 7 mN (caution), and constant high beeping above 7 mN (danger).
“The audio remains silent until 1 mN or greater force is measured. Between 1 mN and 3.5 mN, a constant slow beeping is emitted, which is designated to be a “safe zone”. The second zone is between 3.5mN and 7 mN. A proportionally increasing tempo is generated to indicate this “caution zone”. Beyond 7 mN is a”
Quote in the paperNot a substantial claimMay combine two claims.
InterpretationreasoningA successful vitreoretinal operation requires controlled tremor-free tool motion and limitation of force on the retina.
“Hence for a successful operation, controlled tremor-free tool motion and limitation of force on the retina are two highly desired features.”
Quote in the paperSubstantial claimMay combine two claims.
PremisecitationFBG sensors detect strain and, by measuring tool bending, allow calculation of force in the transverse plane with a sensitivity of 0.25 mN.
“FBGs are robust optical sensors capable of detecting changes in strain. By measuring the bending of the tool they allow for calculation of the force in the transverse plane with a sensitivity of 0.25 mN.”
Quote in the paperSubstantial claim0 of 1 sources checked- cites [26] source
Probably not a substantial claim: may not pass S3 (load-bearing).
Study design and conductnone givenA training period of about 3 hours was allowed before data collection for each phantom type.
“For each phantom type, an extensive training period (~3 hrs) was allowed before data collection.”
Quote in the paperNot a substantial claimMay combine two claims. The quote only partly states this claim.
Study design and conductown dataThe calibration matrix K was obtained and used in a linear relationship to calculate force from FBG wavelength shift.
“The calibration procedure was completed to get the following matrix: K=[0.009060.07346−0.06485−0.028100.05578−0.04533]”
Quote in the paperSubstantial claimMay combine two claims.
Study design and conductnone givenTo minimize axial force components, the Micron instrument must be held almost perpendicular to the membrane surface, which is not always practical.
“In order to minimize axial components, the operations need to be performed while holding the Micron instrument almost perpendicular to the membrane surface, which is not always practical.”
Quote in the paperSubstantial claim
The authors state this as an assumption.
The membrane structure of chicken eggs does not vary significantly between eggs.
“it was assumed that the membrane structure did not vary significantly between eggs.”
The paper relies on this without support.
Micron does not provide any feedback or limitation on applied forces during surgery.
“Micron has a major drawback: it does not provide any feedback or limitation on the applied forces during the surgery.”
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A Steady-Hand Robotic System for Microsurgical Augmentation
Taylor, R., Jensen, P., Whitcomb, L., Barnes, A., Kumar, R., Stoianovici, D., Gupta, P., Wang, Z., Dejuan, E., & Kavoussi, L. (1999) · The International Journal of Robotics Research · doi:10.1177/02783649922067807 · Cited by 528 · cited 1× · see citing works
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Self-citationCharacterization of Epiretinal Membranes Using Optical Coherence Tomography
Wilkins, J. R., Puliafito, C. A., Hee, M. R., et al. (1996) · Ophthalmology · doi:10.1016/s0161-6420(96)30377-1 · Cited by 392 · cited 1× · see citing works
“During the procedure, the thin fibrous layer on the retina, which is typically �60llm thick [1], is carefully delaminated off the retina surface by using either a bent blade or a hook.”
MethodNew steady-hand Eye Robot with micro-force sensing for vitreoretinal surgery
Uneri, A., Balicki, M. A., Handa, J., Gehlbach, P., Taylor, R. H., & Iordachita, I. (2010) · 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics · doi:10.1109/biorob.2010.5625991 · Cited by 291 · cited 2× · see citing works
“Tests were done on two types of phantoms, which have previously been reported and used in our laboratory as suitable surrogates for an epiretinal membrane: bandage phantom[29], inner shell membrane of raw chicken eggs[15].”
MethodSelf-citationEffect of sensory substitution on suture-manipulation forces for robotic surgical systems
Kitagawa, M., Dokko, D., Okamura, A. M., & Yuh, D. D. (2004) · Journal of Thoracic and Cardiovascular Surgery · doi:10.1016/j.jtcvs.2004.05.029 · Cited by 276 · cited 1× · see citing works
“that continuous real-time auditory feedback representing applied force could be a clearer cue and thus significantly improve the performance in complex surgery [27].”
BackgroundMicron: An Actively Stabilized Handheld Tool for Microsurgery
MacLachlan, R. A., Becker, B. C., Tabares, J. C., Podnar, G. W., Lobes, L. A., & Riviere, C. N. (2012) · IEEE Transactions on Robotics · doi:10.1109/tro.2011.2169634 · Cited by 270 · cited 2× · see citing works
“Micron is a handheld actively stabilized 3-DOF micromanipulator that is mainly designed to remove unintentional motion and enhance positional accuracy [16].”
BackgroundMethodSelf-citationIordachita, I., Sun, Z., Balicki, M., Kang, J. U., Phee, S. J., Handa, J., Gehlbach, P., & Taylor, R. (2009) · International Journal of Computer Assisted Radiology and Surgery · doi:10.1007/s11548-009-0301-6 · Cited by 181 · cited 2× · see citing works
“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].”
BackgroundMethodSelf-citationDevelopment and application of a new steady-hand manipulator for retinal surgery
Mitchell, B., Koo, J., Iordachita, I., Kazanzides, P., Kapoor, A., Handa, J., Hager, G., & Taylor, R. (2007) · Proceedings 2007 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2007.363056 · Cited by 174 · cited 1× · see citing works
“Apart from these, JHU Steady-hand Eye Robot was developed based on a cooperative control scheme between the surgeon and a stiff non-backdrivable robot arm to combine manipulative transparency and immediacy of hand held tools with precision and sensitivity of a machine [15,20,21].”
MethodSelf-citationBerkelman, P. J., Whitcomb, L. L., Taylor, R. H., & Jensen, P. (2003) · IEEE Transactions on Robotics and Automation · doi:10.1109/tra.2003.817526 · Cited by 172 · see citing works
Self-citationA teleoperated microsurgical robot and associated virtual environment for eye surgery
Hunter, I. W., Doukoglou, T. D., Lafontaine, S. R., Charette, P. G., Jones, L. A., Sagar, M. A., Mallinson, G. D., & Hunter, P. J. (1993) · Presence: Teleoperators and Virtual Environments · doi:10.1162/pres.1993.2.4.265 · Cited by 164 · see citing works
Surgical Forces and Tactile Perception During Retinal Microsurgery
Gupta, P. K., Jensen, P. S., & de Juan, E. (1999) · Lecture notes in computer science · doi:10.1007/10704282_132 · Cited by 163 · cited 3× · see citing works
“Using a single degree of freedom (DOF) force sensing retinal pick, axial tool shaft forces during retinal manipulation in porcine cadaver eyes were recorded by Gupta et al [22].”
BackgroundMethodResultInfluentialA Steady-Hand Robotic System for Microsurgical Augmentation
Taylor, R. H., Jensen, P. S., Whitcomb, L. L., Barnes, A. C., Kumar, R., Stoianovici, D. S., Gupta, P., Wang, Z., deJuan, E., & Kavoussi, L. R. (1999) · Lecture notes in computer science · doi:10.1007/10704282_112 · Cited by 145 · see citing works
Self-citationEvaluation of a Telerobotic System to Assist Surgeons in Microsurgery
Das, H., Zak, H., Johnson, J., Crouch, J., & Frambach, D. (1999) · Computer Aided Surgery · doi:10.3109/10929089909148155 · Cited by 116 · see citing works
Mechanical and neural feedback factors in postural hand tremor of normal subjects.
Stiles, R. N. (1980) · Journal of Neurophysiology · doi:10.1152/jn.1980.44.1.40 · Cited by 112 · cited 1× · see citing works
“The prominence of the 10 Hz peak in both figures primarily stems from postural hand tremor as it occurs at a frequency between about 8-10 Hz in normal humans [28].”
BackgroundRobot-Assisted Vitreoretinal Surgery
Ueta, T., Yamaguchi, Y., Shirakawa, Y., Nakano, T., Ideta, R., Noda, Y., Morita, A., Mochizuki, R., Sugita, N., Mitsuishi, M., et al. (2009) · Ophthalmology · doi:10.1016/j.ophtha.2009.03.001 · Cited by 110 · cited 1× · see citing works
“These and many other tele-operated robots utilized remote control and motion scaling to reduce hand tremor [11-14].”
BackgroundPerformance measurement in scaled teleoperation for microsurgery
Salcudean, S. E., Ku, S., & Bell, G. (1997) · Lecture Notes in Computer Science · doi:10.1007/bfb0029304 · Cited by 96 · cited 1× · see citing works
“[17] and for reflected torque feedback by Tokuyasu and Kitamura [18].”
BackgroundDistribution of Iatrogenic Retinal Breaks in Macular Hole Surgery
Sjaarda, R. N., Glaser, B. M., Thompson, J. T., et al. (1995) · Ophthalmology · doi:10.1016/s0161-6420(95)30859-7 · Cited by 93 · cited 1× · see citing works
“excessive forces applied during the peeling procedure can easily give rise to serious complications such as iatrogenic retinal breaks [2-4], vitreous hemorrhage as well as subretinal hemorrhage [5].”
BackgroundToward robot-assisted vascular microsurgery in the retina
Jensen, P. S., Grace, K. W., Attariwala, R., Colgate, J. E., & Glucksberg, M. R. (1997) · Graefe's Archive for Clinical and Experimental Ophthalmology · doi:10.1007/bf01880668 · Cited by 90 · cited 1× · see citing works
“These and many other tele-operated robots utilized remote control and motion scaling to reduce hand tremor [11-14].”
BackgroundFusing force and vision feedback for micromanipulation
Zhou, Y., Nelson, B. J., & Vikramaditya, B. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1998.677265 · Cited by 90 · cited 1× · see citing works
“For microassembly tasks, similar results were reported by Zhou et al [19].”
ResultIatrogenic Retinal Breaks Complicating Pars Plana Vitrectomy
Carter, J. B., Michels, R. G., Glaser, B. M., et al. (1990) · Ophthalmology · doi:10.1016/s0161-6420(90)32492-2 · Cited by 85 · cited 1× · see citing works
“excessive forces applied during the peeling procedure can easily give rise to serious complications such as iatrogenic retinal breaks [2-4], vitreous hemorrhage as well as subretinal hemorrhage [5].”
BackgroundMicro-force Sensing in Robot Assisted Membrane Peeling for Vitreoretinal Surgery
Balicki, M. A., Uneri, A., Iordachita, I. I., Handa, J. T., Gehlbach, P. L., & Taylor, R. H. (2010) · Lecture notes in computer science · doi:10.1007/978-3-642-15711-0_38 · Cited by 85 · cited 3× · see citing works
“Tests were done on two types of phantoms, which have previously been reported and used in our laboratory as suitable surrogates for an epiretinal membrane: bandage phantom[29], inner shell membrane of raw chicken eggs[15].”
BackgroundMethodInfluentialSelf-citationApplied force during vitreoretinal microsurgery with handheld instruments
Jagtap, A. D., & Riviere, C. N. (2005) · The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society · doi:10.1109/iembs.2004.1403792 · Cited by 79 · cited 1× · see citing works
“This strain gauge based force sensor was mounted on the handle of the fust version of CMU Micron by Jagtap et al [25].”
MethodSelf-citationGrigorian, R. A. (2003) · British Journal of Ophthalmology · doi:10.1136/bjo.87.6.737 · Cited by 70 · see citing works
Ophthalmic microsurgical robot and associated virtual environment
Hunter, I. W., Jones, L. A., Sagar, M. A., Lafontaine, S. R., & Hunter, P. J. (1995) · Computers in Biology and Medicine · doi:10.1016/0010-4825(94)00042-o · Cited by 70 · see citing works
Berkelman, P. J., Whitcomb, L. L., Taylor, R. H., & Jensen, P. S. (2000) · Lecture notes in computer science · doi:10.1007/978-3-540-40899-4_93 · Cited by 45 · see citing works
Self-citationSub-retinal hemorrhage during internal limiting membrane peeling for a macular hole
Nakata, K., Ohji, M., Ikuno, Y., Kusaka, S., Gomi, F., & Tano, Y. (2003) · Graefe's Archive for Clinical and Experimental Ophthalmology · doi:10.1007/s00417-003-0676-y · Cited by 28 · see citing works
Retinal Microvascular Surgery: A Feasibility Study
Tsilimbaris, M. K., Lit, E. S., & D’Amico, D. J. (2004) · Investigative Opthalmology & Visual Science · doi:10.1167/iovs.03-0874 · Cited by 27 · cited 1× · see citing works
“Similarly, retinal veins and other tissues can be damaged during manipulation [6].”
BackgroundA prototype surgical manipulator for robotic intraocular micro surgery.
Mulgaonkar, A. P., Hubschman, J., Bourges, J., et al. (2009) · PubMed · Cited by 17 · see citing works
2A1-D1 A Study on Minute Torque Transmission for Tele-Microsurgery
Tokuyasu, T., & Kitamura, T. (2001) · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · doi:10.1299/jsmermd.2001.43_5 · Cited by 3 · see citing works
A Prototype Surgical Manipulator for Robotic Intraocular Micro Surgery
Mulgaonkar Amit, P., Jean-Pierre, H., Jean-Louis, B., Jordan Brett, L., Christopher, C., Wilson Jason, T., Tsu-Chin, T., & Culjat Martin, O. (2009) · Studies in Health Technology and Informatics · doi:10.3233/978-1-58603-964-6-215
Flagged first, then by citations
5 of the 34 references couldn’t be matched to a known paper.
Research works printed but not linked: 2
- 10.3109/10929089909148155 · DOI · Paper page
- schenker, 1995, Development of a telemanipulator for dexterity enhanced microsurgery, Proc 2nd Int Symp Med Rob Comput Asst Surg, 81
Cited by
Sorted by citations
Fiber Bragg Gratings for Medical Applications and Future Challenges: A Review
Presti, D. L., Massaroni, C., Leitão, C., Domingues, M. F., Sypabekova, M., Barrera, D., Floris, I., Massari, L., Oddo, C. M., Sales, S., et al. (2020) · IEEE Access · doi:10.1109/access.2020.3019138 · Cited by 383 · see citing works
“Subsequently, by employing three FBGs, the concept was extended to a 2-DoF force-sensing tool with temperature compensation and tests on different epiretinal membrane models with manual [112] and handheld robotic control [113] were performed.”
MethodSelf-citationCurrent Capabilities and Development Potential in Surgical Robotics
Hoeckelmann, M., Rudas, I. J., Fiorini, P., et al. (2015) · International Journal of Advanced Robotic Systems · doi:10.5772/60133 · Cited by 135 · see citing works
Tool-tissue forces in surgery: A systematic review
Golahmadi, A. K., Khan, D. Z., Mylonas, G. P., & Marcus, H. J. (2021) · Annals of Medicine and Surgery · doi:10.1016/j.amsu.2021.102268 · Cited by 110 · see citing works
Payne, C. J., & Yang, G. (2014) · Annals of Biomedical Engineering · doi:10.1007/s10439-014-1042-4 · Cited by 106 · see citing works
Poorten, E. V., Riviere, C. N., Abbott, J. J., Bergeles, C., Nasseri, M. A., Kang, J. U., Sznitman, R., Faridpooya, K., & Iordachita, I. I. (2019) · Elsevier eBooks · doi:10.1016/b978-0-12-814245-5.00036-0 · Cited by 56 · see citing works
Self-citationChanna, R., Iordachita, I. I., & Handa, J. T. (2016) · Retina · doi:10.1097/iae.0000000000001398 · Cited by 54 · see citing works
Self-citationNovel Integrated Helical Design of Single Optic Fiber for Shape Sensing of Flexible Robot
Wei, J., Wang, S., Li, J., et al. (2017) · IEEE Sensors Journal · doi:10.1109/jsen.2017.2748162 · Cited by 51 · see citing works
“Other applications for force sensing included a contact force sensing in eye surgery [20], [21] and tool-to-tissue interaction force sensing in a handheld micromanipulator [22].”
MethodResearch and Realization of a Master-Slave Robotic System for Retinal Vascular Bypass Surgery
He, C., Huang, L., Yang, Y., et al. (2018) · Chinese Journal of Mechanical Engineering · doi:10.1186/s10033-018-0278-6 · Cited by 50 · see citing works
“Besides the robotic manipulators, other types of robotic devices have been developed, including handheld devices [20, 21], flexible micromanipulators [22, 23], untethered micro robots [24], force-sensing micro-instruments [25, 26].”
MethodMicrosurgery Robots: Applications, Design, and Development
Wang, T., Li, H., Pu, T., & Yang, L. (2023) · Sensors · doi:10.3390/s23208503 · Cited by 54 · see citing works
“Many researchers have applied force-to-auditory sensory substitution methods to robotic systems, where the system emits sound when the interaction force exceeds a threshold [6,70,173] or changes the sound accordingly to the magnitude of the interaction force [163,171,174].”
BackgroundMethodInfluentialRobot-assisted tremor control for performance enhancement of retinal microsurgeons
Roizenblatt, M., Grupenmacher, A. T., Belfort, R., et al. (2018) · British Journal of Ophthalmology · doi:10.1136/bjophthalmol-2018-313318 · Cited by 46 · see citing works
Self-citationA Smart Haptic Hand-Held Device for Neurosurgical Microdissection
Payne, C. J., Marcus, H. J., & Yang, G. (2015) · Annals of Biomedical Engineering · doi:10.1007/s10439-015-1258-y · Cited by 47 · see citing works
From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey
Zhang, D., Si, W., Fan, W., Guan, Y. H., & Yang, C. (2022) · Machine Intelligence Research · doi:10.1007/s11633-022-1332-5 · Cited by 40 · see citing works
A linear stepping endovascular intervention robot with variable stiffness and force sensing
He, C., Wang, S., & Zuo, S. (2018) · International Journal of Computer Assisted Radiology and Surgery · doi:10.1007/s11548-018-1722-x · Cited by 34 · see citing works
Force-sensing surgical grasper enabled by pop-up book MEMS
Gafford, J. B., Kesner, S. B., Wood, R. J., & Walsh, C. J. (2013) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2013.6696716 · Cited by 38 · see citing works
“There is a considerable amount of previous work in the area of MIS robotics and force sensing, including end effectors for robot-assisted surgery [6], force sensors for microsurgery [7, 8, 9, 10], and force control approaches to interacting with small-scale tissue structures [11, 12].”
BackgroundA Review of Robotic and OCT-Aided Systems for Vitreoretinal Surgery
Ahronovich, E. Z., Simaan, N., & Joos, K. M. (2021) · Advances in Therapy · doi:10.1007/s12325-021-01692-z · Cited by 41 · see citing works
“[77] using fiber Bragg grating (FBG) strain sensors to enable force sensing at the tool tip”
MethodToward Improving Safety in Neurosurgery with an Active Handheld Instrument
Moccia, S., Foti, S., Routray, A., et al. (2018) · Annals of Biomedical Engineering · doi:10.1007/s10439-018-2091-x · Cited by 36 · see citing works
Self-citationA comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot
Gonenc, B., Handa, J. T., Gehlbach, P. L., Taylor, R. H., & Iordachita, I. I. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6631266 · Cited by 31 · see citing works
“Hand Robot were built integrating 3 FBG strain sensors on the tool shaft [19, 23].”
BackgroundMethodSelf-citationSensorization of a surgical robotic instrument for force sensing
Shahzada, K. S., Yurkewich, A., Xu, R., et al. (2016) · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · doi:10.1117/12.2213385 · Cited by 29 · see citing works
“These sensors have been successfully incorporated into hand-held tools [20-22] and various surgical robotic systems [23-27].”
MethodGonenc, B., Feldman, E., Gehlbach, P. L., Handa, J. T., Taylor, R. H., & Iordachita, I. I. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6907035 · Cited by 30 · see citing works
“5 mN), which displays the effectiveness of the auditory force feedback and agrees with our previous results [15, 20].”
Self-citationThe Role of Haptic Feedback in Robotic-Assisted Retinal Microsurgery Systems: A Systematic Review
Griffin, J. A., Zhu, W., & Nam, C. S. (2016) · IEEE Transactions on Haptics · doi:10.1109/toh.2016.2598341 · Cited by 29 · see citing works
“Due to the unique anatomy of the eye and the limited space to perform surgery, surgeons typically make three incisions into the eye during surgery [4].”
BackgroundThe Effect of Haptic Feedback on Efficiency and Safety During Preretinal Membrane Peeling Simulation
Francone, A., Huang, J. M., Ma, J., et al. (2019) · Translational Vision Science & Technology · doi:10.1167/tvst.8.4.2 · Cited by 26 · see citing works
Gonenc, B., Gehlbach, P. L., Handa, J. T., Taylor, R. H., & Iordachita, I. I. (2014) · IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) · doi:10.1109/biorob.2014.6913784 · Cited by 25 · see citing works
“The 2-DOF pick was used in combination with the Steady-Hand Robot [21] as well as with Micron [22].”
Self-citationHand-held microsurgical forceps with force-feedback for micromanipulation
Payne, C. J., Rafii-Tari, H., Marcus, H. J., & Yang, G. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6906623 · Cited by 23 · see citing works
User Behavior Evaluation in Robot-Assisted Retinal Surgery
He, C., Ebrahimi, A., Roizenblatt, M., Patel, N. A., Yang, Y., Gehlbach, P. L., & Iordachita, I. I. (2018) · IEEE RO-MAN · doi:10.1109/roman.2018.8525638 · Cited by 21 · see citing works
Self-citationCiuti, G., Webster, R. J., III, Kwok, K., & Menciassi, A. (2025) · Nature Reviews Bioengineering · doi:10.1038/s44222-025-00294-6 · Cited by 30 · see citing works
“Furthermore, force sensing can be implemented in Micron by integrating optical fibre-based sensors that can measure real-time tool-to-tissue interaction forces, with auditory sensory feedback to reduce and limit forces 123 .”
Hybrid position/force control of an active handheld micromanipulator for membrane peeling
Wells, T. S., Yang, S., MacLachlan, R. A., Lobes, L. A., Martel, J. N., & Riviere, C. N. (2015) · International Journal of Medical Robotics and Computer Assisted Surgery · doi:10.1002/rcs.1659 · Cited by 20 · see citing works
“ClingWrap on Sorbothane® rubber (30), and Clear Bandages (39) on PTFE.”
Self-citationA “Smart” Force-Limiting Instrument for Microsurgery: Laboratory and In Vivo Validation
Marcus, H. J., Payne, C. J., Kailaya-Vasan, A., Griffiths, S., Clark, J. A., Yang, G., Darzi, A. W., & Nandi, D. (2016) · PLoS ONE · doi:10.1371/journal.pone.0162232 · Cited by 17 · see citing works
Overcoming the impact of physiologic tremors in ophthalmology
Singh, G., Jie, W. W. J., Sun, M. T., Casson, R. J., Selva, D. N., & Chan, W. O. (2022) · Graefe s Archive for Clinical and Experimental Ophthalmology · doi:10.1007/s00417-022-05718-2 · Cited by 15 · see citing works
Food Peeling Method for Dual-arm Cooking Robot
Dong, C., Yu, L., Takizawa, M., et al. (2021) · doi:10.1109/ieeeconf49454.2021.9382700 · Cited by 15 · see citing works
“Also, there are a few other research reports in the literature about robot peeling task that mainly concentrate on robot surgery assisting [7], [8], [9].”
BackgroundVenugopal, A., Moccia, S., Foti, S., et al. (2022) · International Journal of Computer Assisted Radiology and Surgery · doi:10.1007/s11548-022-02584-5 · Cited by 13 · see citing works
“To reduce postoperative morbidity, an assistive, handheld robotic device [4] could be used tofilter surgeons’ unintended movements of the hand and prevent entry into forbidden regions such as vascular structures.”
MethodSelf-citationNovel force sensing module for a concentric tube-based vitreoretinal surgical robot
Xu, B., & Ko, S. Y. (2020) · Sensors and Actuators A Physical · doi:10.1016/j.sna.2020.112395 · Cited by 13 · see citing works
Robotic Scanning Device for Intraoperative Thyroid Gland Endomicroscopy
Wang, H., Wang, S., Li, J., et al. (2018) · Annals of Biomedical Engineering · doi:10.1007/s10439-018-1978-x · Cited by 12 · see citing works
Xiao, J., Wu, Q., Sun, D., He, C., & Chen, Y. (2019) · International Conference on Intelligent Transportation, Big Data & Smart City (ICITBS) · doi:10.1109/icitbs.2019.00122 · Cited by 10 · see citing works
Liu, W., Su, Y., Wu, W., et al. (2019) · Future Generation Computer Systems · doi:10.1016/j.future.2019.01.032 · Cited by 9 · see citing works
Effects of micro-vibratory modulation during robot-assisted membrane peeling
Gonenc, B., Gehlbach, P. L., Taylor, R. H., & Iordachita, I. I. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7353912 · Cited by 11 · see citing works
“First, a single degree of freedom (DOF) force-sensing tool [16] and then a 2-DOF pick-like instrument [17-19] were built.”
Self-citationToward hybrid position/force control for an active handheld micromanipulator
Wells, T. S., MacLachlan, R. A., & Riviere, C. N. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6906942 · Cited by 9 · see citing works
Self-citationTool-tissue Forces in Surgery: A Systematic Review
Golahmadi, A. K., Khan, D. Z., Mylonas, G. P., et al. (2021) · Journal of the American College of Surgeons · doi:10.1016/j.jamcollsurg.2021.08.188 · Cited by 8 · see citing works
Zhu, I., & Mieler, W. F. (2020) · doi:10.1007/978-981-15-7644-7_40 · Cited by 8 · see citing works
Human eye phantom for developing computer and robot-assisted epiretinal membrane peeling
Gupta, A., Gonenc, B., Balicki, M. A., et al. (2014) · doi:10.1109/embc.2014.6945205 · Cited by 8 · see citing works
“The development of a microsurgical assistant system for retinal surgery at the Johns Hopkins University has created the need for an eye phantom that combines several features such as ocular geometry, fundus appearance [1-3,5], and realistic ERM peeling behavior, including forces that simulate those encountered during…”
Self-citationQuantifying efficacy of the fiber bragg grating sensors in medical applications: a survey
Prathap, P. B., & Saara, K. (2023) · Journal of Optics · doi:10.1007/s12596-023-01480-8 · Cited by 9 · see citing works
“However, in later years, the authors [110, 111] designed three FBGs-based 2-DoF force sensor with temperature compensation ability.”
Qin, W., Yi, H., Fan, Z., & Zhao, J. (2025) · Sensors · doi:10.3390/s25020405 · Cited by 7 · see citing works
Unintentional Movements During the Use of Vitreoretinal Forceps
Doğramacı, M., & STEEL, D. H. (2018) · Translational Vision Science & Technology · doi:10.1167/tvst.7.6.28 · Cited by 5 · see citing works
“This mechanism can be actuated simply by squeezing the handle, which leads the tube forming the shaft to slide forward to close the graspers as described by Gonenc et al.5 1 TVST j 2018 j Vol. 7 j No. 6 j Article 28 This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 Internationa…”
BackgroundMethodInfluentialDesign and Implementation of A Micro-force Sensing Instrument for Ophthalmic Surgery
Wu, R., Shaofeng, H., Chenghan, G., et al. (2020) · Journal of Mechanical Engineering · doi:10.3901/jme.2020.17.012 · Cited by 3 · see citing works
“5 mN,其中仅有 19%能 够被医生所感知([1])。同样的问题普遍存在于其他显 微外科手术中,如神经外科、血管外科等。微力感 知技术是眼科显微手术机器人的重要研究方向([2])。 为了感知如此微小的器械与眼组织器官的作用 力,一些研究者选择使用现有的高精度力传感器, 如埃因霍温大学研发的 Preceyes 机器人([3])、天主教 鲁汶大学研发的视网膜手术机器人([4]),使用分辨率 为 3 mN 的 Nano17 传感器。约翰霍普金斯大学的 BERKELMAN 等则采用自主开发了一种基于硅应 变片的三维力测量传感器([5])。 TAYLOR 等 ([6-8])利用布拉格光栅光纤传感器”
InfluentialHubschman, J., Shah, S. U., & Voleti, V. B. (2014) · Cited by 3 · see citing works
Intraocular Microsurgical Forceps (20, 23, and 25 gauge) Membrane Peeling Forces Assessment
Vélez-Montoya, R., Patel, C., Oliver, S. C. N., et al. (2013) · Journal of Ophthalmology · doi:10.1155/2013/784172 · Cited by 2 · see citing works
“Imprecise movements due to tremor, poor visibility, and fatigue often may result in tissue damagewhich can be irreversible and sight-threatening depending on location [3, 4].”
BackgroundForradalmi újítások a szemészetben: a robotok növekvő szerepe a mikrosebészeti technikában
Turgut, F., Pálya, F., Saad, A., Santos, R. E., Spitznagel, T., Somfai, G. M., Nagy, Z. Z., & Becker, M. D. (2025) · Orvosi Hetilap · doi:10.1556/650.2025.33389 · Cited by 1 · see citing works
A Novel Intraoperative Force Estimation Method via Electrical Bioimpedance Sensing
Cheng, Z., & Mattos, L. S. (2023) · Mechanisms and machine science · doi:10.1007/978-3-031-32606-6_25 · Cited by 1 · see citing works
Ungrounded haptic-feedback for hand-held surgical robots
Payne, C. J. (2015) · Spiral (Imperial College London) · doi:10.25560/26587 · Cited by 1 · see citing works
“IEEE Intelligent Robots and Systems, Tokyo, Japan.”
BackgroundMethodInfluentialDario, P., Ciuti, G., Chiurazzi, M., Amram, D., Trigili, E., Crea, S., Vitiello, N., Masiero, F., Lanotte, F., Controzzi, M., et al. (2025) · Springer eBooks · doi:10.1007/978-3-319-77267-7_2
Doğramacı, M., & STEEL, D. H. (2021) · Turkish Journal of Ophthalmology · doi:10.4274/tjo.galenos.2020.40035
Ferrigno, G., Pedrocchi, A., Momi, E. D., Ambrosini, E., & Beretta, E. (2015) · CRC Press eBooks · doi:10.1201/b19147-3
V.B.3. The Future of Vitrectomy
Hubschman, J., Shah, S. U., & Voleti, V. B. (2014) · doi:10.1007/978-1-4939-1086-1_40
- Authors
- Gonenc, B., Balicki, M. A., Handa, J., Gehlbach, P., Riviere, C. N., Taylor, R. H., & Iordachita, I.
- Affiliations
- Johns Hopkins University (US)
- Carnegie Mellon University (US)
- ORCID
- Venue
- 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2012-10
- Volume
- 2012
- Pages
- 4125-4130
- ISSN
- 2153-0858 (ISSN-L)
- PMC
- PMC3559009
- OpenAlex
- W81319023
- Cited by
- 54
- References
- 34
- Citations by year
- 2026: 1 · 2025: 4 · 2023: 3 · 2022: 3 · 2021: 5 · 2020: 4 · 2019: 4 · 2018: 8 · 2017: 1 · 2016: 4 · 2015: 6 · 2014: 8 · 2013: 3
- FWCI
- 15.99
- Type
- conference paper
- Language
- en
- Open access
- green
- www.ncbi.nlm.nih.gov
- Locations
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (publishedVersion)
- PubMed (publishedVersion)
- Europe PMC (PubMed Central) (acceptedVersion)
- PubMed Central (acceptedVersion)
- Funders
- National Institute of Biomedical Imaging and Bioengineering (R01EB000526, R01EB007969)
- Topics
- Health Sciences › Medicine › Radiology, Nuclear Medicine and Imaging › Retinal and Macular Surgery
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- vitrectomy, membrane peeling
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