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courses:446:2013:446-2013-08:446-2013-08 [2013/02/19 22:16]
wyang15@johnshopkins.edu [Summary]
courses:446:2013:446-2013-08:446-2013-08 [2019/08/07 12:01] (current)
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-======Force Feedback of Dual Force-sensing ​Instrument for Retinal Microsurgery====== +======Force Feedback of Dual Force-Sensing ​Instrument for Retinal Microsurgery====== 
-**Last updated: ​02/11/2013**+**Last updated: ​05/14/2013**
 ======Summary====== ======Summary======
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 ======Background,​ Specific Aims, and Significance====== ======Background,​ Specific Aims, and Significance======
-A paragraph or so here Give background ​of the problemExplicitly state specific aims (numbered list is good) and explain why they are important +One major challenge in the field of surgical robots which has yet to be overcome is the lack of haptic feedbackThe lack of such a feedback system leaves ​the control of the robotic arms solely on the vision field provided to the surgeonMost agree that the addition of force feedback ​is generally expected have significant benefits for the surgeon’s “feel of the operation”,​ which would further result in increased patient safety. 
 +Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening. Auditory feedback at the tip of the tool will alarm the surgeons when the force exerted is beyond a certain threshold and reduce the chance of retinal damage while haptic feedback at the sclera will exert an opposing force to the surgeon’s hand to increase the safety of the operation.
 ======Deliverables====== ======Deliverables======
-  * **Minimum:​** (Expected by when?+  * **Minimum:​** (3/15/2013
-    - deliverable 1 +    - Minimum five person test to analyze the effectiveness of: 
-    - deliverable 2 +  * auditory feedback on auditory tip force feedback, haptic sclera force feedback 
-    - etc +  * auditory feedback on the sclera, haptic feedback on the tip force 
 +  * auditory feedback on both the sclera and tip force
   * **Expected:​** (Expected by date)   * **Expected:​** (Expected by date)
-    - deliverable 1 +    - IRB approval of use of outside volunteers for the study 
-    - deliverable 2 +    - Virtual phantom simulation of the retina to produce estimated axial force, which would allow us to produce haptic feedback on both the tip and the scleral force 
-    - etc+
   * **Maximum:​** (Expected by date)   * **Maximum:​** (Expected by date)
-    - deliverable 1 +    - Force sensing retina phantom to measure axial force 
-    - deliverable 2 +    - Vibrotectile feedback mechanism to substitute the auditory feedback 
-    - etc+======Technical Approach====== 
 +l  Design and build phantoms for eye experiments. (Use rubber bands to simulate forces on the sclera and retina) 
 +l  Get acquainted with the eye robot, program and auditory feedback tools 
 +l  Develop force feedback methods. 
 +l  Carry out assessment experiments. Use Eye Robot to provide haptic feedback and produce sounds 
 +l  Evaluate experiment results. 
 +-Access to Hackerman Robotorium and the Eye Robot. Will not be able to conduct any studies.
-======Technical Approach====== +-Ability to use the dual force sensing surgery instrument. Will not be able to study methods of force feedback.
-here describe ​the technical approach in sufficient detail so someone can understand what you are trying ​to do+
-======Dependencies====== +-Availability of the retina phantom. Will not be able to simulate surgical settings. Minimum deliverable ​not met.
-describe dependencies and effect on milestones and deliverables if not met+
 +-Budget to develop vibrotactile device. Will not be able to achieve maximum deliverable.
 +-Budget to develop force sensing retina phantom. Will not be able to achieve maximum deliverable.  ​
 ======Milestones and Status ====== ======Milestones and Status ======
-  - Milestone name:  ​xxxxx +  - Milestone name:  ​Minimum 
-    * Planned Date: xxxx+    * Planned Date: 3/14/13
     * Expected Date: xxx     * Expected Date: xxx
-    * Status: ​xxx +    * Status: ​Not met 
-  - Milestone name:  ​xxxxx +  - Milestone name:  ​IRB 
-    * Planned Date: xxxx+    * Planned Date: 3/15/13
     * Expected Date: xxx     * Expected Date: xxx
-    * Status: ​xxx +    * Status: ​Not met 
-  - Milestone name:  ​xxxxx +  - Milestone name:  ​Maximum 
-    * Planned Date: xxxx+    * Planned Date: 4/30/13
     * Expected Date: xxx     * Expected Date: xxx
-    * Status: ​xxx+    * Status: ​Not met
 ======Reports and presentations====== ======Reports and presentations======
   * Project Plan   * Project Plan
-    * {{:​courses:​446:​2013:​446-2013-X:proposalproject_planpresetation.pdf| Project plan presentation}} +    * {{:​courses:​446:​2013:​446-2013-08:dualforcesensingwrittenplan.docx| Project plan proposal}} 
-    * {{:​courses:​446:​2013:​446-2013-X:project_proposal.pdf|Project plan proposal}}+    * {{:​courses:​446:​2013:​446-2013-08:group_8_1_.pptx|Proposal Presentation}}
   * Project Background Reading ​   * Project Background Reading ​
     * See Bibliography below for links.     * See Bibliography below for links.
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     * {{:​courses:​446:​2013:​446-2013-X:​checkpoint_presetation.pdf| Project checkpoint presentation}}     * {{:​courses:​446:​2013:​446-2013-X:​checkpoint_presetation.pdf| Project checkpoint presentation}}
   * Paper Seminar Presentations   * Paper Seminar Presentations
-    * here provide links to all seminar presentations+    * {{:​courses:​446:​2013:​446-2013-08:​cs_446_woo_yang_paper_critque.docx|Woo Yang Seminar Paper}} 
 +    * {{:​courses:​446:​2013:​446-2013-08:​art_3a10.1007_2fs11548-011-0602-4.pdf|Woo Yang Selected Paper}} 
 +    * {{:​courses:​446:​2013:​446-2013-08:​critical_review_-_seo-im_hong.docx|Seo-Im Hong Seminar Paper}} 
 +    * {{:​courses:​446:​2013:​446-2013-08:​paper_review.pdf|Can Wang Seminar Paper}} 
 +    * {{:​courses:​446:​2013:​446-2013-08:​balicki_et_al._-_2010_-_micro-force_sensing_in_robot_assisted_membrane_peeling_for_vitreoretinal_surgery.pdf|Can Wang Selected Paper}} 
 +    * {{:​courses:​446:​2013:​446-2013-08:​paper_seminar.pptx|Can Wang Seminar Presentation}} 
 +  * Project Teaser Presentation 
 +    * {{:​courses:​446:​2013:​446-2013-08:​group_8_poster_teaser_-_upload.pptx|PPT of Teaser}}
   * Project Final Presentation   * Project Final Presentation
-    * {{:​courses:​446:​2013:​446-2013-X:final_poster_pdf.pdf|PDF of Poster}}+    * {{:​courses:​446:​2013:​446-2013-08:group_8_poster.ppt| Poster ​PDF}}
   * Project Final Report   * Project Final Report
-    * {{:​courses:​446:​2013:​446-2013-X:final_report.pdf|Final Report}}+    * {{:​courses:​446:​2013:​446-2013-08:group_8_report.pdf| Report ​PDF}}
     * links to any appendices or other material     * links to any appendices or other material
 ======Project Bibliography======= ======Project Bibliography=======
- ​* ​here list references and reading material +  * M. Balicki et al. Micro-force Sensing in Robot Assisted Membrane Peeling for Vitreoretinal Surgery. MICCAI 2010, Part III, LNCS 6363, pp. 303–310, 2010 
 +  ​* ​I. Iordachita et al. A sub-millimetric,​ 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery. Int J CARS (2009) 4:383–390 
 +  * X. He et al. A Novel Dual Force Sensing Instrument with Cooperative Robotic Assistant for Vitreoretinal Surgery 
 +  * R. Kumar et al. Preliminary Experiments in Cooperative Human-Robot Force Control for Robot Assisted Microsurgical Manipulation. IEEE(2000) 610 
 +  * M. Kitagawa et al. Effect of sensory substitution on suture-manipulation forces for robotic surgical systems. The Journal of Thoracic and Cardiovascular Surgery 129:1,151
 ======Other Resources and Project Files====== ======Other Resources and Project Files======
 Here give list of other project files (e.g., source code) associated with the project. ​ If these are online give a link to an appropriate external repository or to uploaded media files under this name space. Here give list of other project files (e.g., source code) associated with the project. ​ If these are online give a link to an appropriate external repository or to uploaded media files under this name space.
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