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Tao Q, Liu J, Zheng Y, Yang Y, Lin C, Guang C. Evaluation of an Active Disturbance Rejection Controller for Ophthalmic Robots with Piezo-Driven Injector. MICROMACHINES 2024; 15:833. [PMID: 39064342 PMCID: PMC11278564 DOI: 10.3390/mi15070833] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/05/2024] [Revised: 06/24/2024] [Accepted: 06/25/2024] [Indexed: 07/28/2024]
Abstract
Retinal vein cannulation involves puncturing an occluded vessel on the micron scale. Even single millinewton force can cause permanent damage. An ophthalmic robot with a piezo-driven injector is precise enough to perform this delicate procedure, but the uncertain viscoelastic characteristics of the vessel make it difficult to achieve the desired contact force without harming the retina. The paper utilizes a viscoelastic contact model to explain the mechanical characteristics of retinal blood vessels to address this issue. The uncertainty in the viscoelastic properties is considered an internal disturbance of the contact model, and an active disturbance rejection controller is then proposed to precisely control the contact force. The experimental results show that this method can precisely adjust the contact force at the millinewton level even when the viscoelastic parameters vary significantly (up to 403.8%). The root mean square (RMS) and maximum value of steady-state error are 0.32 mN and 0.41 mN. The response time is below 2.51 s with no obvious overshoot.
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Affiliation(s)
- Qiannan Tao
- School of Energy and Power Engineering, Beihang University, Beijing 100191, China;
| | - Jianjun Liu
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (J.L.); (C.L.)
| | - Yu Zheng
- College of Automation and College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China
| | - Yang Yang
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (J.L.); (C.L.)
| | - Chuang Lin
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (J.L.); (C.L.)
| | - Chenhan Guang
- School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China;
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2
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Esfandiari M, Kim JW, Zhao B, Amirkhani G, Hadi M, Gehlbach P, Taylor RH, Iordachita I. 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 2024; 2024:8209-8215. [PMID: 39421218 PMCID: PMC11486505 DOI: 10.1109/icra57147.2024.10611084] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/19/2024]
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.
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Affiliation(s)
- Mojtaba Esfandiari
- Department of Mechanical Engineering and also Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Ji Woong Kim
- Department of Mechanical Engineering and also Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Botao Zhao
- Department of Mechanical Engineering and also Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Golchehr Amirkhani
- Department of Mechanical Engineering and also Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Muhammad Hadi
- Department of Mechanical Engineering and also Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Peter Gehlbach
- Peter Gehlbach is with the Wilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD, 21287, USA
| | - Russell H Taylor
- Russell H. Taylor is with the Department of Computer Science and also the Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Iulian Iordachita
- Department of Mechanical Engineering and also Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
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3
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Wang Y, Wang W, Cai Y, Zhao Q, Wang Y. Preoperative Planning Framework for Robot-Assisted Dental Implant Surgery: Finite-Parameter Surrogate Model and Optimization of Instrument Placement. Bioengineering (Basel) 2023; 10:952. [PMID: 37627837 PMCID: PMC10451750 DOI: 10.3390/bioengineering10080952] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/03/2023] [Revised: 08/05/2023] [Accepted: 08/07/2023] [Indexed: 08/27/2023] Open
Abstract
For robot-assisted dental implant surgery, it is necessary to feed the instrument into a specified position to perform surgery. To improve safety and efficiency, a preoperative planning framework, including a finite-parameter surrogate model (FPSM) and an automatic instrument-placement method, is proposed in this paper. This framework is implemented via two-stage optimization. In the first stage, a group of closed curves in polar coordinates is used to represent the oral cavity. By optimizing a finite number of parameters for these curves, the oral structure is simplified to form the FPSM. In the second stage, the FPSM serves as a fast safety estimator with which the target position/orientation of the instrument for the feeding motion is automatically determined through particle swarm optimization (PSO). The optimized feeding target can be used to generate a virtual fixture (VF) to avoid undesired operations and to lower the risk of collision. This proposed framework has the advantages of being safe, fast, and accurate, overcoming the computational burden and insufficient real-time performance of complex 3D models. The framework has been developed and tested, preliminarily verifying its feasibility, efficiency, and effectiveness.
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Affiliation(s)
| | | | - Yueri Cai
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; (Y.W.); (W.W.); (Q.Z.); (Y.W.)
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Zhao B, Esfandiari M, Usevitch DE, Gehlbach P, Iordachita I. 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 2023; 2023:2359-2365. [PMID: 38347956 PMCID: PMC10861175 DOI: 10.1109/ro-man57019.2023.10309472] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/15/2024]
Abstract
Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabilities to perform these surgeries. This research investigates the comparative performance of a serial and parallel cooperative-controlled robot in completing a retinal vessel-following task, with a focus on human-robot interaction performance and user experience. Our results indicate that despite differences in robot structure and interaction forces and torques, the two robots exhibited similar levels of performance in terms of general robot-to-patient interaction and average operating time. These findings have implications for the development and implementation of surgical robotics, suggesting that both serial and parallel cooperative-controlled robots can be effective for vitreoretinal surgery tasks.
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Affiliation(s)
- Botao Zhao
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Mojtaba Esfandiari
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA
| | - David E Usevitch
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Peter Gehlbach
- Wilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD, 21287, USA
| | - Iulian Iordachita
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA
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Ebrahimi A, Sefati S, Gehlbach P, Taylor RH, Iordachita I. Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-assisted Eye Surgery. IEEE T ROBOT 2023; 39:1373-1387. [PMID: 37377922 PMCID: PMC10292740 DOI: 10.1109/tro.2022.3201393] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/25/2023]
Abstract
Notable challenges during retinal surgery lend themselves to robotic assistance which has proven beneficial in providing a safe steady-hand manipulation. Efficient assistance from the robots heavily relies on accurate sensing of surgery states (e.g. instrument tip localization and tool-to-tissue interaction forces). Many of the existing tool tip localization methods require preoperative frame registrations or instrument calibrations. In this study using an iterative approach and by combining vision and force-based methods, we develop calibration- and registration-independent (RI) algorithms to provide online estimates of instrument stiffness (least squares and adaptive). The estimations are then combined with a state-space model based on the forward kinematics (FWK) of the Steady-Hand Eye Robot (SHER) and Fiber Brag Grating (FBG) sensor measurements. This is accomplished using a Kalman Filtering (KF) approach to improve the deflected instrument tip position estimations during robot-assisted eye surgery. The conducted experiments demonstrate that when the online RI stiffness estimations are used, the instrument tip localization results surpass those obtained from pre-operative offline calibrations for stiffness.
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Affiliation(s)
- Ali Ebrahimi
- Department of Mechanical Engineering and also Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Shahriar Sefati
- Department of Mechanical Engineering and also Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Peter Gehlbach
- Wilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD, 21287, USA
| | - Russell H Taylor
- Department of Mechanical Engineering and also Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
- Department of Computer Science and also Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
| | - Iulian Iordachita
- Department of Mechanical Engineering and also Laboratory for Computational Sensing and Robotics at the Johns Hopkins University, Baltimore, MD, 21218, USA
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Li Z, Fu P, Wei BT, Wang J, Li AL, Li MJ, Bian GB. An automatic drug injection device with spatial micro-force perception guided by an microscopic image for robot-assisted ophthalmic surgery. Front Robot AI 2022; 9:913930. [PMID: 35991847 PMCID: PMC9382114 DOI: 10.3389/frobt.2022.913930] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/06/2022] [Accepted: 06/30/2022] [Indexed: 11/26/2022] Open
Abstract
Retinal vein injection guided by microscopic image is an innovative procedure for treating retinal vein occlusion. However, the retina organization is complex, fine, and weak, and the operation scale and force are small. Surgeons’ limited operation and force-sensing accuracy make it difficult to perform precise and stable drug injection operations on the retina in a magnified field of image vision. In this paper, a 3-DOF automatic drug injection mechanism was designed for microscopic image guiding robot-assisted needle delivery and automatic drug injection. Additionally, the robot-assisted real-time three-dimensional micro-force-sensing method for retinal vein injection was proposed. Based on the layout of three FBG sensors on the hollow outer wall of the nested needle tube in a circular array of nickel-titanium alloys, the real-time sensing of the contact force between the intraoperative instrument and the blood vessel was realized. The experimental data of 15 groups of porcine eyeball retinal veins with diameters of 100–200 μm showed that the piercing force of surgical instruments and blood vessels is 5.95∼12.97 mN, with an average value of 9.98 mN. Furthermore, 20 groups of experimental measurements on chicken embryo blood vessels with diameters of 150–500 μm showed that the piercing force was 4.02∼23.4 mN, with an average value of 12.05 mN.
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Affiliation(s)
- Zhen Li
- School of Electronic and Information Engineering, Tongji University, Shanghai, China
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
| | - Pan Fu
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
- School of Automation, Beijing Information Science and Technology University, Beijing, China
| | - Bing-Ting Wei
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
| | - Jie Wang
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
- School of Automation, Beijing Information Science and Technology University, Beijing, China
| | - An-Long Li
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
| | - Ming-Jun Li
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
- School of Automation, Beijing Information Science and Technology University, Beijing, China
| | - Gui-Bin Bian
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
- *Correspondence: Gui-Bin Bian,
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Iordachita II, de Smet MD, Naus G, Mitsuishi M, Riviere CN. Robotic Assistance for Intraocular Microsurgery: Challenges and Perspectives. PROCEEDINGS OF THE IEEE. INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS 2022; 110:893-908. [PMID: 36588782 PMCID: PMC9799958 DOI: 10.1109/jproc.2022.3169466] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Intraocular surgery, one of the most challenging discipline of microsurgery, requires sensory and motor skills at the limits of human physiological capabilities combined with tremendously difficult requirements for accuracy and steadiness. Nowadays, robotics combined with advanced imaging has opened conspicuous and significant directions in advancing the field of intraocular microsurgery. Having patient treatment with greater safety and efficiency as the final goal, similar to other medical applications, robotics has a real potential to fundamentally change microsurgery by combining human strengths with computer and sensor-based technology in an information-driven environment. Still in its early stages, robotic assistance for intraocular microsurgery has been accepted with precaution in the operating room and successfully tested in a limited number of clinical trials. However, owing to its demonstrated capabilities including hand tremor reduction, haptic feedback, steadiness, enhanced dexterity, micrometer-scale accuracy, and others, microsurgery robotics has evolved as a very promising trend in advancing retinal surgery. This paper will analyze the advances in retinal robotic microsurgery, its current drawbacks and limitations, as well as the possible new directions to expand retinal microsurgery to techniques currently beyond human boundaries or infeasible without robotics.
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Affiliation(s)
- Iulian I Iordachita
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
| | - Marc D de Smet
- Microinvasive Ocular Surgery Center (MIOS), Lausanne, Switzerland
| | | | - Mamoru Mitsuishi
- Department of Mechanical Engineering, The University of Tokyo, Japan
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