A parallel robot to assist vitreoretinal surgery
A parallel robot to assist vitreoretinal surgery
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DOI：
10.1007/s11548-009-0374-2
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发表时间：
2009-11-01
影响因子：
3
通讯作者：
Mitsuishi, Mamoru
中科院分区：
文献类型：
--
作者：
Nakano, Taiga;Sugita, Naohiko;Mitsuishi, Mamoru
目的本文描述了用于玻璃体视网膜手术的并联原型机器人的开发和评估，其中生理性手颤限制了其性能。方法机械臂经过专门设计，以满足尺寸、精度和灭菌等要求；它具有六自由度并行架构，并在眼内提供微米级分辨率的定位精度。操作者通过由多个关节组成的“主机械手”来控制机械手。结果体外实验结果表明，与手动手术相比，原型机器人可以实现更高的稳定性和工具定位精度。结论我们开发的显微手术系统与传统手动手术相比具有优越的可操作性，具有足够的潜力应用于临床玻璃体视网膜手术。
Purpose This paper describes the development and evaluation of a parallel prototype robot for vitreoretinal surgery where physiological hand tremor limits performance.Methods The manipulator was specifically designed to meet requirements such as size, precision, and sterilization; this has six-degree-of-freedom parallel architecture and provides positioning accuracy with micrometer resolution within the eye. The manipulator is controlled by an operator with a "master manipulator" consisting of multiple joints.Results Results of the in vitro experiments revealed that when compared to the manual procedure, a higher stability and accuracy of tool positioning could be achieved using the prototype robot.Conclusions This microsurgical system that we have developed has superior operability as compared to traditional manual procedure and has sufficient potential to be used clinically for vitreoretinal surgery.