Design and Research of a Robotic Aided System for Retinal Vascular Bypass Surgery

作者：Xiao Jingjing; Long Huang; Shen Lijun; Yang Yang^*

来源：Journal of Medical Devices, Transactions of the ASME, 2014, 8(4): 044501.

DOI：10.1115/1.4027230

• ophthalmic
• retinal vascular bypass surgery
• robot
• remote center of motion
• end-effector

With reference to the study of the robotic system for ophthalmology microsurgery, a robotic system was presented with the key mechanism design and control subsystem scheme considering the procedures and features of retinal vascular bypass surgery. After discussion of the clinical application, the human-machine cooperated surgical process of the robotic system for retinal vascular bypass surgery was described, and the design of the surgical layout environment was proposed. The intraocular motion planning method was also described and corresponding experiments using a table tennis ball model and an in vitro porcine eye model were performed. Finally, the feasibility analysis and robotic system error analysis were also summarized and future works discussed for further research.

• 出版日期2014-12
• 单位温州医科大学; 北京航空航天大学