Publications by authors named "P L Gehlbach"
Article Synopsis
- Recent advancements in treatments for age-related macular degeneration require precise, minimally invasive delivery methods to avoid trauma to vital eye structures.
- Skilled surgeons face challenges due to hand tremors, prompting the development of robotic systems that utilize fiber Bragg grating (FBG) sensors to monitor forces during surgery.
- This paper introduces a specialized dataset combining force feedback data with optical coherence tomography (OCT) images and presents a neural network model for estimating forces based on these images, highlighting the dataset's potential use.
Retinal microsurgery is a high-precision surgery performed on a delicate tissue requiring the skill of highly trained surgeons. Given the restricted range of instrument motion in the confined intraocular space, snake-like robots may prove to be a promising technology to provide surgeons with greater flexibility, dexterity, and positioning accuracy during retinal procedures such as retinal vein cannulation and epiretinal membrane peeling. Kinematics modeling of these robots is an essential step toward accurate position control.
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- A surgeon's hand tremor can negatively affect the precision required in delicate retinal surgeries like retinal vein cannulation and epiretinal membrane peeling.
- Robot-assisted technology, specifically the Steady-Hand Eye Robot (SHER), helps ophthalmologists by canceling tremors and providing enhanced control features, although there are limitations in minimizing contact force with the sclera.
- This study introduces a novel teleoperation control mode using a haptic device to dynamically manage tool-sclera contact force, and for the first time, compares its performance against the existing cooperative control mode during simulated eye surgery experiments.
Retinal surgery is a challenging procedure requiring precise manipulation of the fragile retinal tissue, often at the scale of tens-of-micrometers. Its difficulty has motivated the development of robotic assistance platforms to enable precise motion, and more recently, novel sensors such as microscope integrated optical coherence tomography (OCT) for RGB-D view of the surgical workspace. The combination of these devices opens new possibilities for robotic automation of tasks such as subretinal injection (SI), a procedure that involves precise needle insertion into the retina for targeted drug delivery.
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