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...
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An active interventional control framework (AICF) has been presented to increase operation safety by actively intervening the operation to avoid exertion of excessive forces to the sclera in retinal surgery. AICF consists of the steady-hand eye robot as the robotic module, a sensorized tool to measure tool-to-sclera forces, a recurrent neural network to predict occurrence of undesired events, and a variable admittance controller to command the robot away from the undesired instances. AICF can effectively predict excessive-force instances and result in a significant reduction of proportion of undesired instances to about 2.5%...
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