Development and application of a new steady-hand manipulator for retinal surgery
Abstract
This paper describes the development and initial testing of a new and optimized version of a steady-hand manipulator for retinal microsurgery. In the steady-hand paradigm, the surgeon and the robot share control of a tool attached to the robot through a force sensor. The robot controller senses forces exerted by the operator on the tool and uses this information in various control modes to provide smooth, tremor-free, precise positional control and force scaling. The steady-hand manipulator reported here has been specifically designed with the unique constraints of retinal microsurgery in mind. In particular, the system makes use of a compact wrist design that places the bulk of the robot away from the operating field. The resulting system has high efficacy, flexibility and ergonomics while meeting the accuracy and safety requirements of microsurgery. We have now tested this robot on a biological model system and we report a protocol for reliably cannulating ~80 mum OD veins (the size of veins in the human retina) using the system
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Existing robotic systems often have their center of motion at a separate location from the site of insertion into the eye.
“existing systems often have their RCM at a separate location (68).”
From Subretinal therapy: technological solutions to surgical and immunological challenges (2022) · cites this paper as [68]
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New steady-hand Eye Robot with micro-force sensing for vitreoretinal surgery
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“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-citationSubretinal therapy: technological solutions to surgical and immunological challenges
Ladha, R., Caspers, L. E., Willermain, F., & de Smet, M. D. (2022) · Frontiers in Medicine · doi:10.3389/fmed.2022.846782 · Cited by 54 · see citing works
- Authors
- Mitchell, B., Koo, J., Iordachita, I., Kazanzides, P., Kapoor, A., Handa, J., Hager, G., & Taylor, R.
- Venue
- Proceedings 2007 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2007-04
- Pages
- 623-629
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2153752636
- Cited by
- 174
- References
- 19
- Citations by year
- 2026: 1 · 2025: 4 · 2024: 10 · 2023: 8 · 2022: 13 · 2021: 8 · 2020: 7 · 2019: 7 · 2018: 11 · 2017: 12 · 2016: 4 · 2015: 10 · 2014: 8 · 2013: 12 · 2012: 11
- FWCI
- 42.25
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- Proceedings - IEEE International Conference on Robotics and Automation/Proceedings (publishedVersion)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Health Sciences › Medicine › Radiology, Nuclear Medicine and Imaging › Retinal and Macular Surgery
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- retinal microsurgery, surgical robotics, force sensor, shared control, tremor suppression, force scaling, human factors
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