ArticleIEEE transactions on bio-medical engineering2021
Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study.
Article in IEEE transactions on bio-medical engineering, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 22 papers, 1 of them a synthesis that pooled it.
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Who cites it
22 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Next-gen vision: a systematic review on robotics transforming ophthalmic surgery.Journal of robotic surgery · 2025Pooled it
- Recent advances: Augmented reality, robotics, and navigation in oculoplasty and orbit.Indian journal of ophthalmology · 2026Review
- Robot-assisted ophthalmic surgery: research trends, collaboration networks, and emerging clinical frontiers.Journal of robotic surgery · 2026Review
- Hybrid Parallel-Serial Tool Exchange Robot for Ophthalmic Precision Surgery: Mechanical Design.The international journal of medical robotics + computer assisted surgery : MRCAS · 2026Article
- 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
- Current status and solutions for AI ethics in ophthalmology: a bibliometric analysis.NPJ digital medicine · 2025Article
- Head-mounted surgical robots are an enabling technology for subretinal injections.Science robotics · 2025Article
- Robotics and optical coherence tomography: current works and future perspectives [Invited].Biomedical optics express · 2025Review
- Controlling of Applied Force and Cornea Displacement Estimation in Robotic Corneal Surgery With a Gripper Surgical Instrument.The international journal of medical robotics + computer assisted surgery : MRCAS · 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
- Robotics Perception and Control: Key Technologies and Applications.Micromachines · 2024Review
- Eye-mounting goggles to bridge the gap between benchtop experiments and in vivo robotic eye surgery.Scientific reports · 2023Article
- Surgical Robotics for Intracerebral Hemorrhage Treatment: State of the Art and Future Directions.Annals of biomedical engineering · 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
- Comparison of robot-assisted vitreoretinal surgery and manual surgery in different preclinical settings: a randomized trial.Annals of translational medicine · 2022Article
- Force-based Control for Safe Robot-assisted Retinal Interventions:IEEE transactions on medical robotics and bionics · 2022Article
Corrections and comments
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Authors and funding
6 authors.
Funding
Abstract
The integration of robotics into retinal microsurgery leads to a reduction in surgeon perception of tool-to-tissue interaction forces. This blunting of human tactile sensory input, which is due to the inflexible mass and large inertia of the robotic arm as compared to the milli-Newton scale of the interaction forces and fragile tissues during ophthalmic surgery, identifies a potential iatrogenic risk during robotic eye surgery. In this paper, we aim to evaluate two variants of an adaptive force control scheme implemented on the Steady-Hand Eye Robot (SHER) that are intended to mitigate the risk of unsafe scleral forces. The present study enrolled ten retina fellows and ophthalmology residents into a simulated procedure, which simply asked the trainees to follow retinal vessels in a model retina surgery environment. For this purpose, we have developed a force-sensing (equipped with Fiber Bragg Grating (FBG)) instrument to attach to the robot. A piezo-actuated linear stage for creating random lateral motions to the eyeball phantom has been provided to simulate disturbances during surgery. The SHER and all of its dependencies were set up in an operating room in the Wilmer Eye Institute at the Johns Hopkins Hospital. The clinicians conducted robot-assisted experiments with the adaptive controls incorporated as well as freehand manipulations. The results indicate that the Adaptive Norm Control (ANC) method, is able to maintain scleral forces at predetermined safe levels better than even freehand manipulations. Novice clinicians in robot training however, subjectively preferred freehand maneuvers over robotic manipulations. Clinician preferences once highly skilled with the robot is not assessed in this study.
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