Small Force Estimation and Velocity Limitation Control for a Tele-Operated 6-DoF Eye Surgery Robot
When performing eye surgery, surgeons traditionally rely on visual feedback through needle insertion to sense tissue. Particularly, in vitreoretinal surgery, the contact force exerted by a surgical robot to avoid damaging healthy tissue is very small and can be below that which a surgeon is able to...
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IEEE
2025-01-01
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| Online Access: | https://ieeexplore.ieee.org/document/10937755/ |
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| author | Karam Dad Kallu Chenyu Wang Gowoon Jeong Seong Young Ko Amad Zafar Muhammad Umair Ali Hamza Khan |
| author_facet | Karam Dad Kallu Chenyu Wang Gowoon Jeong Seong Young Ko Amad Zafar Muhammad Umair Ali Hamza Khan |
| author_sort | Karam Dad Kallu |
| collection | DOAJ |
| description | When performing eye surgery, surgeons traditionally rely on visual feedback through needle insertion to sense tissue. Particularly, in vitreoretinal surgery, the contact force exerted by a surgical robot to avoid damaging healthy tissue is very small and can be below that which a surgeon is able to sense. In this paper, we introduce the small frequency sliding perturbation observer (SFSPO), which is a technique for estimating the very small contact force exerted when the tip of a surgical tool of a 6-Degree of Freedom (DoF) eye surgery robot touches tissue. This contact force is estimated without using any force/torque sensor, and the small feedback force is amplified, meaning the surgeon can feel it as a large reaction force. Furthermore, during lengthy microscopic surgery procedures, surgeons can experience fatigue and tiredness due to the intense focus required. This may result in damage to healthy tissue due to sudden changes in manipulation and the exertion of excessive force. To avoid this problem, force and velocity limitation control is applied. Simulations are conducted, and the experimental results indicate that very small forces below the perception of the surgeon can be sensed using the SFSPO. We have estimated minimum force which is 0.001 N by using SFSPO which is underneath the perception of surgeon. The results also verify successful implementation of the force and velocity limitation control. |
| format | Article |
| id | doaj-art-58a8c22ddb4b4fdfa4a17c9e6d97fec2 |
| institution | DOAJ |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-58a8c22ddb4b4fdfa4a17c9e6d97fec22025-08-20T03:06:30ZengIEEEIEEE Access2169-35362025-01-0113603276034010.1109/ACCESS.2025.355401110937755Small Force Estimation and Velocity Limitation Control for a Tele-Operated 6-DoF Eye Surgery RobotKaram Dad Kallu0Chenyu Wang1Gowoon Jeong2https://orcid.org/0009-0001-9345-4217Seong Young Ko3https://orcid.org/0000-0003-4316-0074Amad Zafar4https://orcid.org/0000-0002-0716-3932Muhammad Umair Ali5https://orcid.org/0000-0002-7326-1813Hamza Khan6https://orcid.org/0000-0002-6851-8231Medical Robotics and Intelligent Control Laboratory (MeRIC-Lab), School of Mechanical Engineering, Chonnam National University, Gwangju, South KoreaMedical Robotics and Intelligent Control Laboratory (MeRIC-Lab), School of Mechanical Engineering, Chonnam National University, Gwangju, South KoreaMedical Robotics and Intelligent Control Laboratory (MeRIC-Lab), School of Mechanical Engineering, Chonnam National University, Gwangju, South KoreaMedical Robotics and Intelligent Control Laboratory (MeRIC-Lab), School of Mechanical Engineering, Chonnam National University, Gwangju, South KoreaDepartment of Artificial Intelligence and Robotics, Sejong University, Seoul, Republic of KoreaDepartment of Artificial Intelligence and Robotics, Sejong University, Seoul, Republic of KoreaSchool of Mechanical Engineering, Pusan National University, Busan, South KoreaWhen performing eye surgery, surgeons traditionally rely on visual feedback through needle insertion to sense tissue. Particularly, in vitreoretinal surgery, the contact force exerted by a surgical robot to avoid damaging healthy tissue is very small and can be below that which a surgeon is able to sense. In this paper, we introduce the small frequency sliding perturbation observer (SFSPO), which is a technique for estimating the very small contact force exerted when the tip of a surgical tool of a 6-Degree of Freedom (DoF) eye surgery robot touches tissue. This contact force is estimated without using any force/torque sensor, and the small feedback force is amplified, meaning the surgeon can feel it as a large reaction force. Furthermore, during lengthy microscopic surgery procedures, surgeons can experience fatigue and tiredness due to the intense focus required. This may result in damage to healthy tissue due to sudden changes in manipulation and the exertion of excessive force. To avoid this problem, force and velocity limitation control is applied. Simulations are conducted, and the experimental results indicate that very small forces below the perception of the surgeon can be sensed using the SFSPO. We have estimated minimum force which is 0.001 N by using SFSPO which is underneath the perception of surgeon. The results also verify successful implementation of the force and velocity limitation control.https://ieeexplore.ieee.org/document/10937755/6-DoF eye surgery robotforce and velocity limitation controlsmall contact force estimationSFSPOteleoperationvitreoretinal (eye) surgery |
| spellingShingle | Karam Dad Kallu Chenyu Wang Gowoon Jeong Seong Young Ko Amad Zafar Muhammad Umair Ali Hamza Khan Small Force Estimation and Velocity Limitation Control for a Tele-Operated 6-DoF Eye Surgery Robot IEEE Access 6-DoF eye surgery robot force and velocity limitation control small contact force estimation SFSPO teleoperation vitreoretinal (eye) surgery |
| title | Small Force Estimation and Velocity Limitation Control for a Tele-Operated 6-DoF Eye Surgery Robot |
| title_full | Small Force Estimation and Velocity Limitation Control for a Tele-Operated 6-DoF Eye Surgery Robot |
| title_fullStr | Small Force Estimation and Velocity Limitation Control for a Tele-Operated 6-DoF Eye Surgery Robot |
| title_full_unstemmed | Small Force Estimation and Velocity Limitation Control for a Tele-Operated 6-DoF Eye Surgery Robot |
| title_short | Small Force Estimation and Velocity Limitation Control for a Tele-Operated 6-DoF Eye Surgery Robot |
| title_sort | small force estimation and velocity limitation control for a tele operated 6 dof eye surgery robot |
| topic | 6-DoF eye surgery robot force and velocity limitation control small contact force estimation SFSPO teleoperation vitreoretinal (eye) surgery |
| url | https://ieeexplore.ieee.org/document/10937755/ |
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