ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2020
Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery.
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
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Who cites it
11 citing papers in PubMed.
- Technical advances in robotic retinal surgery: a systematic review and future research directions.Journal of robotic surgery · 2026Review
- Bimanual Manipulation of Steady-Hand Eye Robots with Adaptive Sclera Force Control: Cooperative vs. Teleoperation Strategies.IEEE transactions on human-machine systems · 2025Article
- Bimanual Robotic Eye Manipulation Using Adaptive Sclera Force Control: Towards Safe Retinal Vein Cannulation.IEEE transactions on medical robotics and bionics · 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
- Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument Placement.Bioengineering (Basel, Switzerland) · 2023Article
- Human-Robot Interaction in Retinal Surgery: A Comparative Study of Serial and Parallel Cooperative Robots.RO-MAN ... : the ... IEEE International Symposium on Robot and Human Interactive Communication : proceedings. IEEE International Symposium on Robot and Human Interactive Communication · 2023Article
- 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
- Evaluation of the Hand Motion and Peeling Force in Inner Limiting Membrane Peeling.Translational vision science & technology · 2023Article
- Robotic Assistance for Intraocular Microsurgery: Challenges and Perspectives.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery.Frontiers in robotics and AI · 2022Article
Corrections and comments
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Authors and funding
7 authors.
Funding
Abstract
Retinal surgery is a bimanual operation in which surgeons operate with an instrument in their dominant hand (more capable hand) and simultaneously hold a light pipe (illuminating pipe) with their non-dominant hand (less capable hand) to provide illumination inside the eye. Manually holding and adjusting the light pipe places an additional burden on the surgeon and increases the overall complexity of the procedure. To overcome these challenges, a robot-assisted automatic light pipe actuating system is proposed. A customized light pipe with force-sensing capability is mounted at the end effector of a follower robot and is actuated through a hybrid force-velocity controller to automatically illuminate the target area on the retinal surface by pivoting about the scleral port (incision on the sclera). Static following-accuracy evaluation and dynamic light tracking experiments are carried out. The results show that the proposed system can successfully illuminate the desired area with negligible offset (the average offset is 2.45 mm with standard deviation of 1.33 mm). The average scleral forces are also below a specified threshold (50 mN). The proposed system not only can allow for increased focus on dominant hand instrument control, but also could be extended to three-arm procedures (two surgical instruments held by surgeon plus a robot-holding light pipe) in retinal surgery, potentially improving surgical efficiency and outcome.
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Registered trials
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