机构：[1]School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China[2]School of Energy Power and Mechanical Engineering, North China Electric Power University, Beijing, People's Republic of China[3]Beijing Tongren Eye Center, Beijing Tongren Hospital, Capital Medical University, Beijing, People's Republic of China首都医科大学附属北京同仁医院首都医科大学附属同仁医院
Background Continuous curvilinear capsulorhexis (CCC) is a delicate ophthalmic procedure which may benefit from robot technology. Measuring the behaviours (physiological tremor, operation force) of surgeons provides baseline data to develop assistive CCC robot. Methods A forceps with fibre bragg grating and inertial sensors is used to measure the surgeons' behaviours while experts/novices perform CCC on ex-vivo pig eyes, in-vivo rabbit eyes and ex-vivo human lens. Results In pig/rabbit tests, the root-mean-square (RMS) tremor amplitude is 35.26/59.04 mu m (expert/novice, transverse), 13.3/20.55 mu m (axial). The RMS voluntary force (VF) and involuntary force (IF) are 8.97/17.16 mN, and 0.66/1.90 mN, respectively. In human lens test, the RMS tremor amplitude is 24.0 mu m (transverse, expert only), 9.88 mu m (axial). The RMS VF and RMS IF are 9.04 mN (expert only) and 0.17 mN, respectively. Conclusions The expert surgeons have better precision and less operation force.
基金：
National Natural Science Foundation of China [51875011]; National Hi-tech Research and Development Program of China [2017YFB1302702]
第一作者机构：[1]School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China
通讯作者：
通讯机构：[1]School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China[*1]School of Mechanical Engineering and Automation, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, People's Republic of China.
推荐引用方式(GB/T 7714)：
Zheng Yu,Lin Chuang,Guang Chenhan,et al.Operation behaviours of surgical forceps in continuous curvilinear capsulorhexis[J].INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY.2022,18(5):doi:10.1002/rcs.2424.
APA：
Zheng, Yu,Lin, Chuang,Guang, Chenhan,Han, Shaofeng,Ma, Ke&Yang, Yang.(2022).Operation behaviours of surgical forceps in continuous curvilinear capsulorhexis.INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,18,(5)
MLA：
Zheng, Yu,et al."Operation behaviours of surgical forceps in continuous curvilinear capsulorhexis".INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY 18..5(2022)
