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Computer-aided intraocular surgery requires precise, real-time knowledge of the vasculature during retinal procedures such as laser photocoagulation or vessel cannulation. Because vitreoretinal surgeons manipulate retinal structures on the back of the eye through ports in the sclera, voluntary and involuntary tool motion rotates the eye in the socket and causes movement to the microscope view of the...
Performing micromanipulation and delicate operations in submillimeter workspaces is difficult because of destabilizing tremor and imprecise targeting. Accurate micromanipulation is especially important for microsurgical procedures, such as vitreoretinal surgery, to maximize successful outcomes and minimize collateral damage. Robotic aid combined with filtering techniques that suppress tremor frequency...
This paper describes an inexpensive pico-projector-based augmented reality (AR) display for a surgical microscope. The system is designed for use with Micron, an active handheld surgical tool that cancels hand tremor of surgeons to improve microsurgical accuracy. Using the AR display, virtual cues can be injected into the microscope view to track the movement of the tip of Micron, show the desired...
Peeling delicate retinal membranes, which are often less than five microns thick, is one of the most challenging retinal surgeries. Preventing rips and tears caused by tremor and excessive force can decrease injury and reduce the need for follow up surgeries. We propose the use of a fully handheld microsurgical robot and vision-based virtual fixtures to enforce helpful constraints on the motion of...
Active compensation of physiological tremor for handheld micromanipulators depends on fast control and actuation responses. Because of real-world latencies, real-time compensation is usually not completely effective at eliminating unwanted hand motion. By modeling tremor, more effective cancellation is possible by anticipating future hand motion. We propose a feedforward control strategy that utilizes...
HeartLander is a small, mobile robot designed to assist surgical procedures on the surface of the heart. It crawls within the pericardial sac surrounding the heart. Numerous potential clinical uses for HeartLander involve injections or other interventions at multiple locations on the epicardial surface. To minimize treatment time, we have developed an algorithm that optimizes a plan for reaching a...
Cannulation of small retinal vessels is often prohibitively difficult for surgeons, since physiological tremor often exceeds the narrow diameter of the vessel (40-120 μm). Using an active handheld micromanipulator, we introduce an image-guided robotic system that reduces tremor and provides smooth, scaled motion during the procedure. The micromanipulator assists the surgeon during the approach, puncture,...
In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push beyond the current state of practice by integrating imaging and robot-assisted tools. This paper demonstrates control of a handheld tremor reduction micromanipulator with visual servo techniques, aiding the operator by providing three...
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