Bimanual Manipulation of Steady Hand Eye Robots with Adaptive Sclera Force Control: Cooperative vs. Teleoperation Strategies
CoRR(2024)
摘要
Performing intricate eye microsurgery, such as 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 has to do with 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 address crucial safety considerations, such as minimizing contact
force between the surgical instrument and the sclera surface to prevent tissue
damage. An adaptive sclera force control algorithm was proposed to address this
limitation using an FBG-based force-sensing tool to measure and minimize the
tool-sclera interaction force. Additionally, features like haptic feedback or
hand motion scaling, which can improve the safety and precision of surgery,
require a teleoperation control framework. We implemented a bimanual adaptive
teleoperation (BMAT) control mode using SHER 2.0 and SHER 2.1 and compared its
performance with a bimanual adaptive cooperative (BMAC) mode. Both BMAT and
BMAC modes were tested in sitting and standing postures during a
vessel-following experiment under a surgical microscope. It is shown, for the
first time to the best of our knowledge in robot-assisted retinal surgery, that
integrating the adaptive sclera force control algorithm with the bimanual
teleoperation framework enables surgeons to safely perform bimanual
telemanipulation of the eye without over-stretching it, even in the absence of
registration between the two robots.
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