Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller
Changyan He,Ali Ebrahimi,Emily Yang,Muller Urias,Yang Yang,Peter Gehlbach,Iulian Iordachita,Changyan He,Ali Ebrahimi,Emily Yang,Muller Urias,Yang Yang,Peter Gehlbach,Iulian Iordachita
Retinal vein cannulation is a promising approach for treating retinal vein occlusion that involves injecting medicine into the occluded vessel to dissolve the clot. The approach remains largely unexploited clinically due to surgeon limitations in detecting interaction forces between surgical tools and retinal tissue. In this paper, a dual force constraint controller for robot-assisted retinal surg...
