Micron: An Actively Stabilized Handheld Tool for Microsurgery
Open accessAbstract
We describe the design and performance of a hand-held actively stabilized tool to increase accuracy in micro-surgery or other precision manipulation. It removes involuntary motion such as tremor by actuating the tip to counteract the effect of the undesired handle motion. The key components are a three-degree-of-freedom piezoelectric manipulator that has 400 μm range of motion, 1 N force capability, and bandwidth over 100 Hz, and an optical position measurement subsystem that acquires the tool pose with 4 μm resolution at 2000 samples/s. A control system using these components attenuates hand motion by at least 15 dB (a fivefold reduction). By considering the effect of the frequency response of Micron on the human visual feedback loop, we have developed a filter that reduces unintentional motion, yet preserves intuitive eye-hand coordination. We evaluated the effectiveness of Micron by measuring the accuracy of the human/machine system in three simple manipulation tasks. Handheld testing by three eye surgeons and three non-surgeons showed a reduction in position error of between 32% and 52%, depending on the error metric.
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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”
From Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery (2012) · cites this paper as [5]
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
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- Authors
- MacLachlan, R. A., Becker, B. C., Tabares, J. C., Podnar, G. W., Lobes, L. A., & Riviere, C. N.
- Affiliations
- Carnegie Mellon University (US)
- Universidad de Valladolid (ES)
- University of Pittsburgh (US)
- Venue
- IEEE Transactions on Robotics
- Published
- 2012-02
- Volume
- 28
- Issue
- 1
- Pages
- 195-212
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- PMC
- PMC3459596
- OpenAlex
- W2087665419
- Cited by
- 270
- References
- 60
- Citations by year
- 2026: 16 · 2025: 14 · 2024: 12 · 2023: 12 · 2022: 16 · 2021: 22 · 2020: 22 · 2019: 16 · 2018: 23 · 2017: 22 · 2016: 16 · 2015: 26 · 2014: 17 · 2013: 16 · 2012: 16
- FWCI
- 28.89
- Type
- journal article
- Language
- en
- Open access
- green
- europepmc.org
- Locations
- IEEE Transactions on Robotics (publishedVersion)
- PubMed (publishedVersion)
- Europe PMC (PubMed Central) (acceptedVersion)
- PubMed Central (acceptedVersion)
- Funders
- National Eye Institute (R21EY016359)
- National Institute of Biomedical Imaging and Bioengineering (R01EB000526, R01EB007969)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Piezoelectric Actuators and Control
- Life Sciences › Neuroscience › Cognitive Neuroscience › Motor Control and Adaptation
- Keywords
- microsurgery, motion stabilization, tremor compensation, eye-hand coordination, visual feedback, precision manipulation, surgical accuracy
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