Steady-Hand Eye Robot

Steady-hand eye robot evolution (a) original version from 1999 and (b) Eye Robot 2.1 design from 2012. (Courtesy of the Computer Integrated Interventional Systems Laboratory, Johns Hopkins University, Baltimore, Maryland.)... 

X. He, D. Roppenecker, D. Gierlach, M. Balicki, K. Olds, P. Gehlbach, J. Handa, R. Taylor, and I. lordachita, "Toward clinically applicable steady-hand eye robot for vitreoretinal surgery," Proc. ASMEIMECE, paper no. IMECE 2012-88384, pp. 145-153,2012. 

The Steady-Hand Eye Robot [26,27] developed for retinal microsurgery at Johns Hopkins University, a continuation of the Steady-Hand robot project [28], is a hands-on compliant tool that adopts the concept of shared control. Although the device is directly manipulated by the surgeon s hand, it filters hand tremors and tweaks the motion of the tool tip based on the surgeon s hand forces and those of the tool—tissue interaction. So far, three iterations of the device have been developed EyeRobot 1, EyeRobot 2, and EyeRobot 2.1. EyeRobot 1 is a 5-DOF tool with an active computer-controlled RCM. EyeRobot 2 is an improved revision of EyeRobot 1 with a mechanical RCM. EyeRobot 2.1 (Figure 5.3) has an improved symmetric mechanical RCM that makes the device suitable for dual-arm teleoperation as well. 

Uneri A, Balicki MA, Handa J, Gehlbach P, Taylor RH, lordachita I. New steady-hand eye robot with micro-force sensing for vitreoretinal surgery. In Proceedings of the lEEE/RAS-EMBS international conference on biomedical robotics and bio-mechatronics, vol. 2010. NIH Public Access 2010. p. 814. 

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