Optimization-based Concurrent Control of a High Dexterity Robot for Vitreoretinal Surgery.

Vitreoretinal surgery requires dexterity and force sensitivity from the clinician. A system to cooperatively control an integrated surgical robot for high dexterity manipulation within the eye's vitreous space was developed and validated in simulation. The system is composed of a 2 degrees of freedom (DoF) snake-like continuum manipulator that is attached to the end-effector of a 5-DoF rigid robot arm. It is capable of receiving position and orientation commands from a 5-DoF input device in real-time, as well as following pre-planned trajectories. The manipulator is moved to each target pose in real-time, using an optimization method to calculate the inverse kinematics solution. Constraints on the position and orientation ensure the target pose does not harm the patient within the vitreous space, enabling the robot to safely assist the clinician with vitreoretinal surgery when operating in real-time. The simulation demonstrates the system's feasibility and benefits over the existing non-dexterous system.