Retinal vein occlusion (RVO) is a prevalent ocular pathology that may result in hemorrhage and even blindness. Currently, a procedure termed retinal vein cannulation (RVC), involving puncturing the retinal vein and injecting medication, has been developed. However, RVC requires extremely high precision at the micron scale. To address the challenges in the micro-puncturing process of the RVC, an adaptive finite-time sliding mode (AFSM) control scheme with a smooth motion generator has been proposed to assist surgeons in achieving precise micro-punctures using a piezo-actuated stage. Firstly, an S-curve-based smooth motion planning approach incorporating force feedback is designed to detect the successful micro-puncture state, thus addressing the challenge of limited force perception during the procedure. Subsequently, an AFSM control scheme has been developed to track the desired motion. Finally, a micro-puncture system, equipped with a silicon phantom, is established for experimental purposes. The experimental results demonstrate that the proposed control scheme significantly enhances the tracking performance during the micro-puncture process. The smooth motion planning and AFSM control scheme prove to be effective for the automatic control of the piezo-actuated end-effector, thereby providing improved assistance to surgeons in the RVC process. Note to Practitioners—During the procedure of retinal vein micro-puncture, it is crucial to ensure a smooth motion planning and accurate tracking to guide the needle tip into the retinal vein lumen. In light of the difficulties in lack of depth perception, a motion generator has been proposed with an adaptive micro-puncture state detection mechanism based on force feedback. To reliably track the desired motion, the AFSM controller is designed to ensure tracking accuracy and robustness, and finite-time stability. In particular, the adaptive gain of the AFSM controller does not require uncertain prior information, making it friendly to clinical applications. The experimental results based on silicone phantom, demonstrate the effectiveness of the controller in achieving successful micro-puncture with precise tracking performance. The implementation of the AFSM controller enables the automated micro-puncture task, reducing the risk of damage during operation.

中文翻译：

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硅模体视网膜静脉微穿刺的自适应有限时间滑模控制


视网膜静脉阻塞（RVO）是一种常见的眼部病理，可能导致出血甚至失明。目前，已经开发出一种称为视网膜静脉插管（RVC）的手术，涉及刺穿视网膜静脉并注射药物。然而，RVC 需要微米级的极高精度。为了解决 RVC 微穿刺过程中的挑战，提出了一种带有平滑运动发生器的自适应有限时间滑动模式 (AFSM) 控制方案，以帮助外科医生使用压电驱动平台实现精确的微穿刺。首先，设计了一种结合力反馈的基于S曲线的平滑运动规划方法来检测成功的微穿刺状态，从而解决手术过程中力感知有限的挑战。随后，开发了 AFSM 控制方案来跟踪所需的运动。最后，建立了一个配备硅体模的微穿刺系统用于实验目的。实验结果表明，所提出的控制方案显着增强了微穿刺过程中的跟踪性能。事实证明，平滑的运动规划和 AFSM 控制方案对于压电驱动末端执行器的自动控制是有效的，从而为外科医生在 RVC 过程中提供更好的帮助。从业者须知——在视网膜静脉微穿刺过程中，确保平稳的运动计划和准确的跟踪以引导针尖进入视网膜静脉腔至关重要。鉴于缺乏深度感知的困难，提出了一种具有基于力反馈的自适应微穿刺状态检测机制的运动发生器。 为了可靠地跟踪所需的运动，AFSM 控制器旨在确保跟踪精度和鲁棒性以及有限时间稳定性。特别是AFSM控制器的自适应增益不需要不确定的先验信息，使其有利于临床应用。基于硅胶模型的实验结果证明了控制器在成功实现微穿刺和精确跟踪性能方面的有效性。 AFSM 控制器的实施可实现自动微穿刺任务，降低操作过程中损坏的风险。