Motion-Compensated Micro-Forceps for Retinal Surgery
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Solution Overview
Problem
Current micro-forceps systems in retinal surgery lack precision and accuracy due to physiological hand tremor, which can lead to unintended tissue damage during delicate procedures like peeling micron-scale membranes from the retinal surface.
Innovation Solution
A motion-compensated micro-forceps system incorporating a manually-operable micro-forceps assembly with a motor assembly and optical detection system using common-path optical coherence tomography (CP-OCT) for real-time distance sensing and feedback control, compensating for hand tremor and hand-action-induced motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If unassisted freehand micro-forceps are used for retinal surgery, then the surgeon has direct manual control, but physiological hand tremor causes imprecision and potential tissue damage
Solution Approach 1:
The system employs OCT-based distance sensing to continuously measure the position of the micro-forceps tip relative to the retinal surface, feeding this information back to a controller that actuates a piezoelectric motor to compensate for tremor and maintain precise positioning
Solution Approach 2:
The patent replaces purely manual mechanical control with a hybrid system that uses optical sensing (OCT) and piezoelectric actuation to compensate for physiological tremor, thereby enhancing precision without completely eliminating manual operation
2Measurement precision
If the micro-forceps tip is positioned close to the retinal surface for precision work, then surgical accuracy improves, but the risk of unintended tissue contact and damage increases
Solution Approach 1:
The OCT system continuously monitors the distance between the micro-forceps tip and retinal surface in real-time, providing feedback to the control system that adjusts the piezoelectric motor to maintain a safe offset distance, preventing unintended tissue contact while preserving surgical precision
Solution Approach 2:
The system pre-establishes a safe offset distance threshold and uses the piezoelectric motor to maintain the tool tip at this predetermined distance before surgical contact is needed, proactively preventing tissue damage while preserving the ability to perform precise surgical actions
3Measurement precision
If a piezoelectric motor-based feedback control system is implemented, then tool tip stability and precision are enhanced, but device complexity increases
Solution Approach 1:
The patent integrates the OCT sensing system, piezoelectric motor actuator, and feedback controller into a unified handheld micro-forceps platform, combining multiple functions (imaging, sensing, actuation, control) into a single integrated device to manage complexity while achieving enhanced precision
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system significantly reduces unintended tool tip motion, enhancing precision and stability, allowing for safer and more accurate microsurgical procedures by maintaining the tool tip at a defined offset distance from the target tissue, thereby minimizing tissue damage.
Implementation Method 1
optical detection system comprising an optical fiber attached to the manually-operable micro-forceps assembly... configured to output a signal for the determination of a distance
Data Source
AI summary
A motion-compensated micro-forceps system, including a manually-operable micro-forceps assembly having a plurality of moveable grasping elements; a motor assembly operatively connected to the plurality of moveable grasping elements; an optical detection system having an optical fiber attached to the manually-operable micro-forceps assembly at a fixed axial distance relative to a distal-most end of the plurality of moveable grasping elements; and a motor controller configured to communicate with the optical detection system and the motor assembly to provide motion compensation of the plurality of moveable grasping elements of the manually-operable micro-forceps, wherein the optical detection system is configured to output a signal for the determination of a distance of the plurality of moveable grasping elements of the micro-forceps to a target during operation, and wherein the motor controller is configured to provide feedback control signals to the motor assembly for motion compensation for both hand tremor and for hand-action-induced motions.