A parallel robot to assist vitreoretinal surgery

被引：68

作者：

Nakano, Taiga ^{[1
]}

Sugita, Naohiko ^{[1
]}

Ueta, Takashi ^{[2
]}

Tamaki, Yasuhiro ^{[2
]}

Mitsuishi, Mamoru ^{[1
]}

机构：

[1] Univ Tokyo, Sch Engn, Bunkyo Ku, Tokyo 1138656, Japan

[2] Univ Tokyo, Grad Sch Med, Bunkyo Ku, Tokyo 1138656, Japan

来源：

INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY | 2009年 / 4卷 / 06期

关键词：

Surgical robot; Vitreoretinal surgery; Parallel mechanism; MANIPULATOR; DESIGN; MOTION;

D O I：

10.1007/s11548-009-0374-2

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

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.

引用

页码：517 / 526

页数：10

共 21 条

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