ArticleIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation2024
Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study.
Article in IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
What it found
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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.
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Who cites it
8 citing papers in PubMed.
- Motion Compensation and Adaptive Force Control via iOCT-FBG Sensor Fusion for Robotic Subretinal Injection.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2026Article
- 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
- A Deep Learning-Driven Autonomous System for Retinal Vein Cannulation: Validation Using a Chicken Embryo Model.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2025Article
- Deep Learning-Enhanced Robotic Subretinal Injection with Real-Time Retinal Motion Compensation.IEEE International Conference on Automation Science and Engineering (CASE) : [proceedings]. IEEE Conference on Automation Science and Engineering · 2025Article
- Shape Sensing of Continuum Manipulators with Fiber Bragg Grating Sensor Arrays: Accounting for Actuator Velocity Effects.IEEE sensors journal · 2025Article
- Towards Motion Compensation in Autonomous Robotic Subretinal Injections.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2025Article
- Haptic Shared Control Framework with Interaction Force Constraint Based on Control Barrier Function for Teleoperation.Sensors (Basel, Switzerland) · 2025Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
8 authors.
Funding
Abstract
A surgeon's physiological hand tremor can significantly impact the outcome of delicate and precise retinal surgery, such as retinal vein cannulation (RVC) and epiretinal membrane peeling. Robot-assisted eye surgery technology provides ophthalmologists with advanced capabilities such as hand tremor cancellation, hand motion scaling, and safety constraints that enable them to perform these otherwise challenging and high-risk surgeries with high precision and safety. Steady-Hand Eye Robot (SHER) with cooperative control mode can filter out surgeon's hand tremor, yet another important safety feature, that is, minimizing the contact force between the surgical instrument and sclera surface for avoiding tissue damage cannot be met in this control mode. Also, other capabilities, such as hand motion scaling and haptic feedback, require a teleoperation control framework. In this work, for the first time, we implemented a teleoperation control mode incorporated with an adaptive sclera force control algorithm using a PHANTOM Omni haptic device and a force-sensing surgical instrument equipped with Fiber Bragg Grating (FBG) sensors attached to the SHER 2.1 end-effector. This adaptive sclera force control algorithm allows the robot to dynamically minimize the tool-sclera contact force. Moreover, for the first time, we compared the performance of the proposed adaptive teleoperation mode with the cooperative mode by conducting a vessel-following experiment inside an eye phantom under a microscope.
Identifiers
What OpenQuestion holds
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.