ArticleTranslational vision science & technology2023
Evaluation of the Hand Motion and Peeling Force in Inner Limiting Membrane Peeling.
Article in Translational vision science & technology, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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Who cites it
3 citing papers in PubMed, 8 citations in OpenAlex.
- Toward autonomous robotic-assisted and microrobotic surgery.Science advances · 2026Review
- Path planning for fracture reduction robots incorporating physiological tissue response and safety-oriented optimization.International journal of computer assisted radiology and surgery · 2026Article
- Evaluation of an Active Disturbance Rejection Controller for Ophthalmic Robots with Piezo-Driven Injector.Micromachines · 2024Article
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Authors and funding
10 authors at 4 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Purpose: Robot assistance in membrane peeling may improve precision and dexterity or prevent complications by task automation. To design robotic devices, surgical instruments' velocity, acceptable position/pose error, and load ability need to be precisely quantified. Methods: A fiber Bragg grating and inertial sensors are attached to forceps. Data collected from forceps and microscope images are used to quantify a surgeon's hand motion (tremor, velocity, posture perturbation) and operation force (voluntary and involuntary) in inner limiting membrane peeling. All peeling attempts are performed on rabbit eyes in vivo by expert surgeons. Results: The root mean square (RMS) of the tremor amplitude is 20.14 µm (transverse, X), 23.99 µm (transverse, Y), and 11.68 µm (axial, Z). The RMS posture perturbation is 0.43° (around X), 0.74° (around Y), and 0.46° (around Z). The RMS angular velocities are 1.74°/s (around X), 1.66°/s (around Y), and 1.46°/s (around Z), whereas the RMS velocities are 1.05 mm/s (transverse) and 1.44 mm/s (axial). The RMS force is 7.39 mN (voluntary force), 7.41 mN (operation force), and 0.5 mN (involuntary force). Conclusions: Hand motion and operation force are measured in membrane peeling. These parameters provide a potential baseline for determining a surgical robot's accuracy, velocity, and load capacity. Translational Relevance: Baseline data are obtained that can be used to guide ophthalmic robot design/evaluation.
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