Soft-material Robot for Ophthalmologic Surgery

被引：1

作者：

Kanno, Takahiro ^{[1
]}

Kawakami, Tomonori ^{[1
]}

Kawasaki, Minae ^{[2
]}

Furujo, Tomoya ^{[2
]}

Iida, Hiroshi ^{[3
]}

Miyazaki, Tetsuro ^{[1
]}

Kawase, Toshihiro ^{[1
,4
]}

Kawashima, Kenji ^{[1
]}

Ito, Norihiko ^{[2
]}

机构：

[1] Tokyo Med & Dent Univ, Inst Biomat & Bioengn, Chiyoda Ku, 2-3-10 Kanda Surugadai, Tokyo 1010062, Japan

[2] Tottori Univ, Vet Med Ctr, 4-101 Koyamacho Minami, Tottori 680855, Japan

[3] Iida Machinery Corp, Sumida Ku, 3-19-17 Yahiro, Tokyo 1310041, Japan

[4] Tokyo Inst Technol, Inst Innovat Res, Midori Ku, 4259 Nagatsuta Cho, Yokohama, Kanagawa 2268503, Japan

来源：

SENSORS AND MATERIALS | 2020年 / 32卷 / 03期

关键词：

surgical robot; soft robotics; pneumatic system; ophthalmology; pressure control; DESIGN;

D O I：

10.18494/SAM.2020.2668

中图分类号：

TH7 [仪器、仪表];

学科分类号：

0804 ; 080401 ; 081102 ;

摘要：

In this paper, a single-degree-of-freedom robot for assisting ophthalmologic surgery is proposed. A soft linear actuator drives the robot, and a needle attached to the tip punctures the cornea. The soft actuator has low friction and generates less stick slip, and there is no backlash since it does not require reduction gears. It can be controlled more precisely than conventional robots using electric motors or pneumatic cylinders. We conducted a cornea penetration experiment and measured the changes in intraocular pressure during intraocular injection using the proposed device.

引用

页码：1041 / 1050

页数：10

共 18 条

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