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Safety Control Method of Robot-Assisted Cataract Surgery with Virtual Fixture and Virtual Force Feedback

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Abstract

Surgery is an effective means of treating cataracts and restoring vision. However, cataract surgery rate (CSR) in developing countries and regions is relatively low due to the lack of experienced high-level surgeons. In this paper, to reduce the reliance of surgery on physician experience and thereby increase CSR, a master-slave robotic system and safety control strategies with a virtual fixture and virtual force feedback are proposed to assist cataract surgery. First, the surgery is divided into four different stages with different robot control modes. Secondly, the virtual constraint area with virtual spring model in the operating stage is established, so that the doctor can distinguish the operation area where the end of the surgical instrument is located by feedback force. Thirdly, safety control algorithm guarantees that the surgical instrument strictly moves around the surgical incision point, which is regarded as a remote centre of motion, so that the cornea outside the incision point is not injured. Finally, the experimental results show that the proposed safety control strategy allows the robotic system to perform the procedure safely.

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Acknowledgements

This work is financially supported by the National Natural Science Foundation of China (Nos. 61603374, U1713218 and U1713221), the Key Fundamental Research Program of Shenzhen (Nos. JCYJ20160428144135222 and JCYJ20160427184134564), and in part by the Shenzhen Key Laboratory Project (No. ZDSYS201707271637577).

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Authors and Affiliations

  1. Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, China

    Yongfei Yang, Zhongliang Jiang, Yuanyuan Yang, Xiaozhi Qi & Ying Hu

  2. Harbin Institute of Technology at Shenzhen, Shenzhen, 518052, China

    Yongfei Yang & Jianjun Du

  3. Shenzhen Eye Hospital, Shenzhen, 518001, China

    Bing Han & Guiqin Liu

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  1. Yongfei Yang
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  2. Zhongliang Jiang
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  3. Yuanyuan Yang
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  4. Xiaozhi Qi
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  5. Ying Hu
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  6. Jianjun Du
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  7. Bing Han
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  8. Guiqin Liu
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Correspondence to Yuanyuan Yang or Guiqin Liu.

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Yang, Y., Jiang, Z., Yang, Y. et al. Safety Control Method of Robot-Assisted Cataract Surgery with Virtual Fixture and Virtual Force Feedback. J Intell Robot Syst 97, 17–32 (2020). https://doi.org/10.1007/s10846-019-01012-2

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  • DOI: https://doi.org/10.1007/s10846-019-01012-2

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