A Novel Wax Based Piezo Actuator for Autonomous Deep Anterior Lamellar Keratoplasty (Piezo-DALK)

被引：0
|
作者：
Opfermann, J. D. [1 ]
Barbic, M. [2 ]
Khrenov, M. [3 ]
Guo, S. [4 ]
Sarfaraz, N. R. [3 ]
Kang, J. U. [4 ]
Krieger, A. [1 ]
机构：
[1] Johns Hopkins Univ, Dept Mech Engn, Baltimore, MD 21211 USA
[2] NYU, Sch Med, Tech4Hlth Inst, New York, NY 10016 USA
[3] Univ Maryland, Dept Mech Engn, College Pk, MD 20742 USA
[4] Johns Hopkins Univ, Dept Elect Engn, Baltimore, MD 21211 USA
来源：
2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2021年
基金：
美国国家卫生研究院;
关键词：
Medical robots; piezo-actuator; phase change material; cornea transplant; optical coherence tomography; BIG-BUBBLE TECHNIQUE; NEEDLE INSERTION; LEARNING-CURVE; CORNEA; MICROACTUATOR; DEVICE; STROMA; MOTOR;
D O I：
10.1109/IROS51168.2021.9636153
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper reports the design and evaluation of a novel piezo based actuator for needle drive in autonomous Deep Anterior Lamellar Keratoplasty (piezo-DALK). The actuator weighs less than 8g and is 20mm x 20mm x 10.5mm in size, making it ideal for eye-mounted applications. Mean open loop positional deviation was 1.17 +/- 3.15um, and system repeatability and accuracy were 17.16um and 18.33um, respectively. Stall force was found to vary linearly with the cooling cycle and the actuator achieved a maximum drive force of 3.98N. When simulating the DALK procedure in synthetic corneal tissue, the piezo-DALK achieved a penetration depth of 643.56um which was equivalent to 92.1% of the total corneal thickness. This correlated closely with our desired depth of 90% +/- 5% and took 2.5 hours to achieve. This work represents the first eye mountable actuator capable of "Big Bubble" needle drive for autonomous DALK procedures.
引用
收藏
页码：757 / 764
页数：8
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