Development and Evaluation of LSTM Based Framework for Safe Retinal Microsurgery Using Force Sensing Micro-Forceps

The enhancement of manipulation precision is a foremost advantage of robotics-assisted retinal microsurgery. The present robotic structure offers a passive support to the surgeons. An active framework for improving the operation safety through vigorously intervening to prevent the operation of excessive stresses to the sclera is proposed in this paper. The suggested framework includes a robotic system with force-sensitive micro forceps (FSMF), an RNN to identify the presence of undesirable instances, and an admittance controller (AC) unit to direct the robot apart from the undesirable events. An evaluation was performed on the suggested framework as well as the other two methods. According to experimental results, the suggested framework significantly lowers the number of undesirable events when contrasted to AF and RF. The suggested method can successfully anticipate occurrences of excessive force and improve user performance to prevent undesirable outcomes during robot-assisted microsurgical activities.