Russell H. Taylor,Marcin Arkadiusz Balicki,James Tahara Handa,Peter Louis Gehlbach,Iulian Iordachita,Ali Uneri
申请号：
US13813738
公开号：
US20130304258A1
申请日:
2011.08.02
申请国别(地区):
US
年份:
2013
代理人:
摘要：
A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces.
