Force sensing micro-forceps with integrated fiber Bragg grating for vitreoretinal surgery

Xingchi He; Marcin A. Balicki; Jin U. Kang; Peter L. Gehlbach; James T. Handa; Russell H. Taylor; Iulian I Iordachita

doi:10.1117/12.909602

30 January 2012 Force sensing micro-forceps with integrated fiber Bragg grating for vitreoretinal surgery

Xingchi He, Marcin A. Balicki, Jin U. Kang, Peter L. Gehlbach, James T. Handa, Russell H. Taylor, Iulian I Iordachita

Proceedings Volume 8218, Optical Fibers and Sensors for Medical Diagnostics and Treatment Applications XII; 82180W (2012) https://doi.org/10.1117/12.909602
Event: SPIE BiOS, 2012, San Francisco, California, United States

Abstract

Vitreoretinal surgery is a technically demanding ophthalmologic discipline. One of the main technical challenges in vitreoretinal surgery is the lack of force sensing since the surgical maneuvers fall below the human sensory threshold. Previously, a 2-degree-of-freedom (DOF) force sensing instrument with a surgical pick was developed and tested. However, a more commonly used instrument for vitreoretinal surgery is the forceps, with which a surgeon can easily grasp and delaminate the scar tissue. We have designed, fabricated and calibrated a novel 20-gauge (Ga) microsurgical instrument with a 2-DOF force sensing forceps. Three fiber Bragg grating (FBG) sensors are integrated into the customized Alcon^TM forceps tip. The redundant sensor configuration provides good compensation for temperature-related drift. The calibration data show that the tool can provide a force resolution of 0.25 mN. In order to test the functionality and performance, the forceps was evaluated in inner shell membrane peeling experiments with chicken embryos as well as in in-vivo rabbit experiments. The instrument has demonstrated the capability of being applied in the clinical environment, with consistent force measurements. The force exerted in inner shell membrane peeling is from 6.07 to 34.65 mN. The development of the 2-DOF force sensing micro-forceps has shown that the fabrication process is feasible and reliable, and it can be used to develop a future 3-DOF force sensing tool.

Citation Download Citation

Xingchi He, Marcin A. Balicki, Jin U. Kang, Peter L. Gehlbach, James T. Handa, Russell H. Taylor, and Iulian I Iordachita "Force sensing micro-forceps with integrated fiber Bragg grating for vitreoretinal surgery", Proc. SPIE 8218, Optical Fibers and Sensors for Medical Diagnostics and Treatment Applications XII, 82180W (30 January 2012); https://doi.org/10.1117/12.909602

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