Force Feedback of Dual Force-sensing Instrument for Retinal Microsurgery

Our project uses the Eye Robot to assist retinal microsurgery, a delicate procedure which requires force sensing at a level routinely less than 7.5mN. A tool with integrated fiber bragg grating sensors was manufactured for this purpose. An eye phantom that simulates the sclera forces and the peeling procedure was made to test the surgical system. This paper investigates on the same surgical procedure with the same experimental tools, which is why it was selected for review. Multiple force correlated robot control methods were analyzed to find out an optimal haptic feedback method. Following this paper, we can understand the surgical procedure as well as haptic feedback methods better.