Int J Med Robot - Insertion force in manual and robotic corneal suturing.


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CKGROUND: Due to differences in corneal grafting microsurgery between manual and robotic suturing, new challenges have arisen in testing the insertion force and torque of corneal tissue acting on suturing needles in order to guarantee successful completion of surgical procedures.METHODS: In order to measure the force during the insertion operation, from the needle entering the cornea through the entry point until the puncturing of the exit point along the circular trajectory, a force measurement system was established, including fresh porcine cornea, a corneal-suturing robot, a circular needle, a micro-forceps manipulator with a force transducer, a computer with a data acquisition board and a medical microscope. The force values in the needle coordinate frames were obtained on the basis of a sensor coordinate frame through D-H coordinate transformation, and an index is proposed here to evaluate the insertion performance. Experiments on both manual and robotic suturing were carried out for comparison.RESULTS: The scale and changes of the needle insertion force were obtained using two different suturing methods. The maximal tangent force in robotic suturing is a little larger than in manual suturing, and the maximal resultant force in robotic suturing is somewhat smaller. Although the difference is not very significant, robotic suturing performs in a more stable way. Moreover, the performance evaluation index M(dmax) (the maximum of square root of the quadratic sum of torque components M(OX) and M(OY)) in robotic suturing is much smaller than that in manual suturing.CONCLUSIONS: The force measurement system has been verified to be feasible through experimentation. Compared with conventional manual surgery, robotic suturing has some advantages: more stable suturing, smaller distortion torque and fewer invasions to the corneal tissue, showing that its application in minimally invasive surgery is practical.

Resumo Limpo

ckground due differ corneal graft microsurgeri manual robot sutur new challeng arisen test insert forc torqu corneal tissu act sutur needl order guarante success complet surgic proceduresmethod order measur forc insert oper needl enter cornea entri point punctur exit point along circular trajectori forc measur system establish includ fresh porcin cornea cornealsutur robot circular needl microforcep manipul forc transduc comput data acquisit board medic microscop forc valu needl coordin frame obtain basi sensor coordin frame dh coordin transform index propos evalu insert perform experi manual robot sutur carri comparisonresult scale chang needl insert forc obtain use two differ sutur method maxim tangent forc robot sutur littl larger manual sutur maxim result forc robot sutur somewhat smaller although differ signific robot sutur perform stabl way moreov perform evalu index mdmax maximum squar root quadrat sum torqu compon mox moy robot sutur much smaller manual suturingconclus forc measur system verifi feasibl experiment compar convent manual surgeri robot sutur advantag stabl sutur smaller distort torqu fewer invas corneal tissu show applic minim invas surgeri practic

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