Peter Gehlbach

Beihang University, Johns Hopkins University

Associated articles

TBME, Featured Articles
Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-based Active Interventional Control Framework
Retinal surgery is an excellent example of a high-demand dexterity procedure that may benefit from robotic systems. However, due to an incomplete understanding of a surgeon’s imminent intentional manipulations, the assistance provided to the surgeons by current robotic frameworks is... Read more
TBME, Featured Articles
Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study
This work aims to evaluate two variants of an adaptive force control scheme to mitigate the risk of unsafe scleral forces during robot-assisted eye surgery procedures. The robot and its dependencies were set up in an operating room, where we enrolled ten retina fellows and ophthalmology residents into a simulated procedure. The participants were asked to follow phantom retinal vessels using a custom force-sensing instrument, with and without robotic assistance. We demonstrate that the control methods can make the robot autonomously maintain the scleral forces at predetermined safe levels better than freehand manipulations, while the surgeon performs the surgical tasks... Read more