ArticleIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation2019
Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery.
Article in IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 19 papers.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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.
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Who cites it
19 citing papers in PubMed.
- Bimanual Robotic Eye Manipulation Using Adaptive Sclera Force Control: Towards Safe Retinal Vein Cannulation.IEEE transactions on medical robotics and bionics · 2025Article
- A soft micron accuracy robot design and clinical validation for retinal surgery.Microsystems & nanoengineering · 2025Article
- Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation.Sensors (Basel, Switzerland) · 2025Article
- Evaluation of an Active Disturbance Rejection Controller for Ophthalmic Robots with Piezo-Driven Injector.Micromachines · 2024Article
- Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2024Article
- Exploring the Needle Tip Interaction Force with Retinal Tissue Deformation in Vitreoretinal Surgery.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2024Article
- 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
- Robotic Assistance for Intraocular Microsurgery: Challenges and Perspectives.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study.IEEE transactions on bio-medical engineering · 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
- Eye Explorer: A robotic endoscope holder for eye surgery.The international journal of medical robotics + computer assisted surgery : MRCAS · 2021Article
- A Surgical Robotic System for Treatment of Pelvic Osteolysis Using an FBG-Equipped Continuum Manipulator and Flexible Instruments.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2021Article
- Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2020Article
- Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2020Article
- 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
- Spotlight-based 3D Instrument Guidance for Retinal Surgery.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2020Article
- Auditory Feedback Effectiveness for Enabling Safe Sclera Force in Robot-Assisted Vitreoretinal Surgery: a Multi-User Study.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2020Article
- Scleral Force Evaluation During Vitreoretinal Surgery: in an In Vivo Rabbit Eye Model.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2020Article
- Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
Corrections and comments
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Authors and funding
6 authors.
Funding
Abstract
One of the significant challenges of moving from manual to robot-assisted retinal surgery is the loss of perception of forces applied to the sclera (sclera forces) by the surgical tools. This damping of force feedback is primarily due to the stiffness and inertia of the robot. The diminished perception of tool-to-eye interactions might put the eye tissue at high risk of injury due to excessive sclera forces or extreme insertion of the tool into the eye. In the present study therefore a 1-dimensional adaptive control method is customized for 3-dimensional control of sclera force components and tool insertion depth and then implemented on the velocity-controlled Johns Hopkins Steady-Hand Eye Robot. The control method enables the robot to perform autonomous motions to make the sclera force and/or insertion depth of the tool tip to follow pre-defined desired and safe trajectories when they exceed safe bounds. A robotic light pipe holding application in retinal surgery is also investigated using the adaptive control method. The implementation results indicate that the adaptive control is able to achieve the imposed safety margins and prevent sclera forces and insertion depth from exceeding safe boundaries.
Identifiers
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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.