ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2013
Vision-Based Control of a Handheld Surgical Micromanipulator with Virtual Fixtures.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2013. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 25 papers.
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The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
25 citing papers in PubMed.
- Technical evaluation of robotic tele-cholecystectomy: a randomized single-blind controlled pilot study.Journal of robotic surgery · 2023Trial
- A novel robot-assisted subretinal injection system: preliminary validation in ex vivo porcine eyes.Journal of robotic surgery · 2025Article
- Head-mounted surgical robots are an enabling technology for subretinal injections.Science robotics · 2025Article
- Microsurgery Robots: Applications, Design, and Development.Sensors (Basel, Switzerland) · 2023Review
- Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-assisted Eye Surgery.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2023Article
- Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study.IEEE transactions on bio-medical engineering · 2021Article
- Laser scanner for 3D reconstruction of a wound's edge and topology.International journal of computer assisted radiology and surgery · 2021Article
- Monocular Vision-Based Retinal Membrane Peeling With a Handheld Robot.Journal of medical devices · 2021Article
- Compensatory motion scaling for time-delayed robotic surgery.Surgical endoscopy · 2021Article
- Stochastic Force-based Insertion Depth and Tip Position Estimations of Flexible FBG-Equipped Instruments in Robotic Retinal Surgery.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2021Article
- Orthogonality Measurement of Three-Axis Motion Trajectories for Micromanipulation Robot Systems.Micromachines · 2021Article
- Review: How Can Intelligent Robots and Smart Mechatronic Modules Facilitate Remote Assessment, Assistance, and Rehabilitation for Isolated Adults With Neuro-Musculoskeletal Conditions?Frontiers in robotics and AI · 2021Review
- FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2020Article
- Toward Improving Safety in Neurosurgery with an Active Handheld Instrument.Annals of biomedical engineering · 2018Article
- Techniques for robot-aided intraocular surgery using monocular vision.The International journal of robotics research · 2018Article
- EyeSLAM: Real-time simultaneous localization and mapping of retinal vessels during intraocular microsurgery.The international journal of medical robotics + computer assisted surgery : MRCAS · 2018Article
- Force-Based Puncture Detection and Active Position Holding for Assisted Retinal Vein Cannulation.IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems. IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems · 2015Article
- Manipulator Design and Operation for a Six-Degree-of-Freedom Handheld Tremor-Canceling Microsurgical Instrument.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2015Article
- Evaluation of microsurgical tasks with OCT-guided and/or robot-assisted ophthalmic forceps.Biomedical optics express · 2015Article
- Robot assisted stapedotomy ex vivo with an active handheld instrument.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2015Article
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
Performing micromanipulation and delicate operations in submillimeter workspaces is difficult because of destabilizing tremor and imprecise targeting. Accurate micromanipulation is especially important for microsurgical procedures, such as vitreoretinal surgery, to maximize successful outcomes and minimize collateral damage. Robotic aid combined with filtering techniques that suppress tremor frequency bands increases performance; however, if knowledge of the operator's goals is available, virtual fixtures have been shown to further improve performance. In this paper, we derive a virtual fixture framework for active handheld micromanipulators that is based on high-bandwidth position measurements rather than forces applied to a robot handle. For applicability in surgical environments, the fixtures are generated in real-time from microscope video during the procedure. Additionally, we develop motion scaling behavior around virtual fixtures as a simple and direct extension to the proposed framework. We demonstrate that virtual fixtures significantly outperform tremor cancellation algorithms on a set of synthetic tracing tasks (p < 0.05). In more medically relevant experiments of vein tracing and membrane peeling in eye phantoms, virtual fixtures can significantly reduce both positioning error and forces applied to tissue (p < 0.05).
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.