Controlling of Applied Force and Cornea Displacement Estimation in Robotic Corneal Surgery With a Gripper Surgical Instrument

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-01-06 DOI:10.1002/rcs.70038

Ali Soltani Sharif Abadi, Andrew Ordys, Barbara Pierscionek

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Abstract

Background

The human eye consists of highly sensitive, hydrated, and relatively thin tissues, making precise control and accurate force estimation crucial in robotic eye surgery. This paper introduces a novel control method and state observer designed for a gripper surgical instrument used on the external ocular surface during robotic eye surgery.

Methods

A novel state observer, operating in tandem with the controller, estimates the applied force. The proposed control approach, termed the Fixed-time Observer-based Sliding Mode Control (FOSMC), estimates the applied force by determining the gripper states and uses an eye model to calculate its displacement.

Results

The performance of the proposed control method was compared with two other finite-time and asymptotic techniques across two scenarios. The results demonstrated excellent performance using the proposed method.

Conclusions

The FOSMC control technique effectively estimates the applied force during robotic eye surgery, making it a reliable solution for controlling the gripper surgical instrument.

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机器人角膜手术中夹持器的受力控制和角膜位移估计。

背景：人眼是高度敏感、水合且相对较薄的组织，因此在机器人眼科手术中，精确控制和准确的力估计至关重要。介绍了一种用于眼外表面机械手手术的新型控制方法和状态观测器。方法：一个新的状态观测器，与控制器串联工作，估计施加的力。所提出的控制方法，称为基于固定时间观测器的滑模控制（FOSMC），通过确定夹持器的状态来估计施加的力，并使用眼模型来计算其位移。结果：在两种情况下，将所提出的控制方法的性能与其他两种有限时间和渐近技术进行了比较。结果表明，该方法具有良好的性能。结论：FOSMC控制技术能有效地估计机器人眼科手术过程中的受力，是一种可靠的控制夹持式手术器械的解决方案。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.