A Robotic Microforceps for Retinal Microsurgery With Adaptive Clamping Method

• Published in: IEEE/ASME transactions on mechatronics Vol. 29; no. 6; pp. 4492 - 4503
• Main Authors: Zhang, He, Yi, Haoran, Wang, Chunbo, Yang, Jiahui, Jin, Taixian, Zhao, Jie
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: 3-DOF; 3-DOF force sensor; adaptive clamping method; Algorithms; Automation; Calibration; Clamping; Clamps; Control methods; Degrees of freedom; Force; Force sensors; Instruments; Medical robotics; Membranes; Microsurgery; microsurgical forceps; Ophthalmology; Polyethylene terephthalate; Retina; retinal microsurgery; Robot arms; Robot sensing systems; Robotic surgery; Surgeons; Thickness

Epiretinal membrane peel surgery requires the surgeon to perform precise operation on delicate tissue within the narrow space of the eye, which is considered as one of the most technically demanding procedures. Using surgical robots to assist surgeons in performing operations is a recognized develop...