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Development and preliminary results of bimanual smart micro-surgical system using a ball-lens coupled OCT distance sensor

Title
Development and preliminary results of bimanual smart micro-surgical system using a ball-lens coupled OCT distance sensor
Author(s)
Koo, DongwooPark, Hyun-CheolGehlbach, Peter L.Song, Cheol
DGIST Authors
Koo, DongwooPark, Hyun-CheolGehlbach, Peter L.Song, Cheol
Issued Date
2016-11
Type
Article
Article Type
Article
Keywords
Optical Coherence TomographyOptical Coherence TomographyOptical TomographyPROBEROBOTRobotic and Machine ControlRoboticsSurgerySurgerySurgical SystemsSwept Source Optical Coherence TomographiesTissueTomographyTransplantation (Surgical)VITREORETINAL MICROSURGICAL TOOLBiological TissuesCALIBRATIONCOMPENSATIONDESIGNDissectionFeedback Control LoopsFiber Optics SensorsFORCEPSINSTRUMENTLensesMachine ControlsMedical Optics InstrumentationMicrosurgical Systems
ISSN
2156-7085
Abstract
Bimanual surgery enhances surgical effectiveness and is required to successfully accomplish complex microsurgical tasks. The essential advantage is the ability to simultaneously grasp tissue with one hand to provide counter traction or exposure, while dissecting with the other. Towards enhancing the precision and safety of bimanual microsurgery we present a bimanual SMART micro-surgical system for a preliminary ex-vivo study. To the best of our knowledge, this is the first demonstration of a handheld bimanual microsurgical system. The essential components include a ball-lens coupled common-path swept source optical coherence tomography sensor. This system effectively suppresses asynchronous hand tremor using two PZT motors in feedback control loop and efficiently assists ambidextrous tasks. It allows precise bimanual dissection of biological tissues with a reduction in operating time as compared to the same tasks performed with conventional onehanded approaches. © 2016 Optical Society of America.
URI
http://hdl.handle.net/20.500.11750/2156
DOI
10.1364/BOE.7.004816
Publisher
OSA - The Optical Society
Related Researcher
  • 송철 Song, Cheol 로봇및기계전자공학과
  • Research Interests Handheld medical robotics; Smart robotic microsurgery; Smart neuro-rehabilitation; Bio-photonic sensing and imaging
Files in This Item:
4.BOE2016.pdf

4.BOE2016.pdf

기타 데이터 / 4.06 MB / Adobe PDF download
Appears in Collections:
Department of Robotics and Mechatronics Engineering Intelligent Bio-OptoMechatronics Lab 1. Journal Articles

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