Operation behaviours of surgical forceps in continuous curvilinear capsulorhexis

Yu Zheng; Chuang Lin; Chenhan Guang; Shaofeng Han; Ke Ma; Yang Yang

doi:10.1002/rcs.2424

Operation behaviours of surgical forceps in continuous curvilinear capsulorhexis

Yu Zheng
, Chuang Lin
, Chenhan Guang
, Shaofeng Han
, Ke Ma
, Yang Yang^*

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University
North China Electric Power University
Capital Medical University

Research output: Contribution to journal › Article › peer-review

7 Scopus citations

Abstract

Background: Continuous curvilinear capsulorhexis (CCC) is a delicate ophthalmic procedure which may benefit from robot technology. Measuring the behaviours (physiological tremor, operation force) of surgeons provides baseline data to develop assistive CCC robot. Methods: A forceps with fibre bragg grating and inertial sensors is used to measure the surgeons' behaviours while experts/novices perform CCC on ex-vivo pig eyes, in-vivo rabbit eyes and ex-vivo human lens. Results: In pig/rabbit tests, the root-mean-square (RMS) tremor amplitude is 35.26/59.04 μm (expert/novice, transverse), 13.3/20.55 μm (axial). The RMS voluntary force (VF) and involuntary force (IF) are 8.97/17.16 mN, and 0.66/1.90 mN, respectively. In human lens test, the RMS tremor amplitude is 24.0 μm (transverse, expert only), 9.88 μm (axial). The RMS VF and RMS IF are 9.04 mN (expert only) and 0.17 mN, respectively. Conclusions: The expert surgeons have better precision and less operation force.

Original language	English
Article number	e2424
Journal	International Journal of Medical Robotics and Computer Assisted Surgery
Volume	18
Issue number	5
DOIs	https://doi.org/10.1002/rcs.2424
State	Published - Oct 2022

Keywords

continuous curvilinear capsulorhexis
operation force
physiological tremor

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10.1002/rcs.2424

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@article{f01c2254bec147fb8d38dabb814cc078,

title = "Operation behaviours of surgical forceps in continuous curvilinear capsulorhexis",

abstract = "Background: Continuous curvilinear capsulorhexis (CCC) is a delicate ophthalmic procedure which may benefit from robot technology. Measuring the behaviours (physiological tremor, operation force) of surgeons provides baseline data to develop assistive CCC robot. Methods: A forceps with fibre bragg grating and inertial sensors is used to measure the surgeons' behaviours while experts/novices perform CCC on ex-vivo pig eyes, in-vivo rabbit eyes and ex-vivo human lens. Results: In pig/rabbit tests, the root-mean-square (RMS) tremor amplitude is 35.26/59.04 μm (expert/novice, transverse), 13.3/20.55 μm (axial). The RMS voluntary force (VF) and involuntary force (IF) are 8.97/17.16 mN, and 0.66/1.90 mN, respectively. In human lens test, the RMS tremor amplitude is 24.0 μm (transverse, expert only), 9.88 μm (axial). The RMS VF and RMS IF are 9.04 mN (expert only) and 0.17 mN, respectively. Conclusions: The expert surgeons have better precision and less operation force.",

keywords = "continuous curvilinear capsulorhexis, operation force, physiological tremor",

author = "Yu Zheng and Chuang Lin and Chenhan Guang and Shaofeng Han and Ke Ma and Yang Yang",

note = "Publisher Copyright: {\textcopyright} 2022 John Wiley \& Sons Ltd.",

year = "2022",

month = oct,

doi = "10.1002/rcs.2424",

language = "英语",

volume = "18",

journal = "International Journal of Medical Robotics and Computer Assisted Surgery",

issn = "1478-596X",

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TY - JOUR

T1 - Operation behaviours of surgical forceps in continuous curvilinear capsulorhexis

AU - Zheng, Yu

AU - Lin, Chuang

AU - Guang, Chenhan

AU - Han, Shaofeng

AU - Ma, Ke

AU - Yang, Yang

PY - 2022/10

Y1 - 2022/10

N2 - Background: Continuous curvilinear capsulorhexis (CCC) is a delicate ophthalmic procedure which may benefit from robot technology. Measuring the behaviours (physiological tremor, operation force) of surgeons provides baseline data to develop assistive CCC robot. Methods: A forceps with fibre bragg grating and inertial sensors is used to measure the surgeons' behaviours while experts/novices perform CCC on ex-vivo pig eyes, in-vivo rabbit eyes and ex-vivo human lens. Results: In pig/rabbit tests, the root-mean-square (RMS) tremor amplitude is 35.26/59.04 μm (expert/novice, transverse), 13.3/20.55 μm (axial). The RMS voluntary force (VF) and involuntary force (IF) are 8.97/17.16 mN, and 0.66/1.90 mN, respectively. In human lens test, the RMS tremor amplitude is 24.0 μm (transverse, expert only), 9.88 μm (axial). The RMS VF and RMS IF are 9.04 mN (expert only) and 0.17 mN, respectively. Conclusions: The expert surgeons have better precision and less operation force.

AB - Background: Continuous curvilinear capsulorhexis (CCC) is a delicate ophthalmic procedure which may benefit from robot technology. Measuring the behaviours (physiological tremor, operation force) of surgeons provides baseline data to develop assistive CCC robot. Methods: A forceps with fibre bragg grating and inertial sensors is used to measure the surgeons' behaviours while experts/novices perform CCC on ex-vivo pig eyes, in-vivo rabbit eyes and ex-vivo human lens. Results: In pig/rabbit tests, the root-mean-square (RMS) tremor amplitude is 35.26/59.04 μm (expert/novice, transverse), 13.3/20.55 μm (axial). The RMS voluntary force (VF) and involuntary force (IF) are 8.97/17.16 mN, and 0.66/1.90 mN, respectively. In human lens test, the RMS tremor amplitude is 24.0 μm (transverse, expert only), 9.88 μm (axial). The RMS VF and RMS IF are 9.04 mN (expert only) and 0.17 mN, respectively. Conclusions: The expert surgeons have better precision and less operation force.

KW - continuous curvilinear capsulorhexis

KW - operation force

KW - physiological tremor

UR - https://www.scopus.com/pages/publications/85130410883

U2 - 10.1002/rcs.2424

DO - 10.1002/rcs.2424

M3 - 文章

C2 - 35575982

AN - SCOPUS:85130410883

SN - 1478-596X

VL - 18

JO - International Journal of Medical Robotics and Computer Assisted Surgery

JF - International Journal of Medical Robotics and Computer Assisted Surgery

IS - 5

M1 - e2424

ER -

Operation behaviours of surgical forceps in continuous curvilinear capsulorhexis

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