Chinese Journal of Mechanical Engineering >

2018 , Vol. 31 >Issue 4: 78 - 78

DOI: https://doi.org/10.1186/s10033-018-0278-6

Mechanism and Robotics

Research and Realization of a Master-Slave Robotic System for Retinal Vascular Bypass Surgery

  • Chang-Yan He ,
  • Long Huang ,
  • Yang Yang ,
  • Qing-Feng Liang ,
  • Yong-Kang Li
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  • 1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China;
    2. Beijing Institute of Ophthalmology, Beijing Tongren Eye Center, Beijing Tongren Hospital, Capital Medical University, Beijing Key Laboratory of Ophthalmology and Visual Sciences, Beijing 100005, China

收稿日期: 2017-06-06

  网络出版日期: 2019-07-23

基金资助

Supported by National Natural Science Foundation of China (Grant Nos. 50675008, 51175013), National Hitech Research and Development Program of China (863 Program, Grant No. 2017YFB1302702)

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Research and Realization of a Master-Slave Robotic System for Retinal Vascular Bypass Surgery

  • Chang-Yan He ,
  • Long Huang ,
  • Yang Yang ,
  • Qing-Feng Liang ,
  • Yong-Kang Li
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  • 1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China;
    2. Beijing Institute of Ophthalmology, Beijing Tongren Eye Center, Beijing Tongren Hospital, Capital Medical University, Beijing Key Laboratory of Ophthalmology and Visual Sciences, Beijing 100005, China

Received date: 2017-06-06

  Online published: 2019-07-23

Supported by

Supported by National Natural Science Foundation of China (Grant Nos. 50675008, 51175013), National Hitech Research and Development Program of China (863 Program, Grant No. 2017YFB1302702)

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摘要

Retinal surgery continues to be one of the most technical demanding surgeries for its high manipulation accuracy requirement, small and constrained workspace, and delicate retinal tissue. Robotic systems have the potential to enhance and expand the capabilities of surgeons during retinal surgery. Thus, focusing on retinal vessel bypass surgery, a master-slave robot system is developed in this paper. This robotic system is designed based on characteristics of retinal vascular bypass surgery and analysis of the surgical workspace in eyeball. A novel end-efector of two degrees of freedom is designed and a novel remote center of motion mechanism is adopted in the robot structure. The kinematics and the mapping relationship are then established, the gravity compensation control strategy and the hand tremor elimination algorithm are applied to achieve the high motion accuracy. The experiments on an artifcial eyeball and an in vitro porcine eye are conducted, verifying the feasibility of this system.

关键词： Retinal robotic system; Mechanism design; Kinematics; Gravity compensation

本文引用格式

Chang-Yan He , Long Huang , Yang Yang , Qing-Feng Liang , Yong-Kang Li . Research and Realization of a Master-Slave Robotic System for Retinal Vascular Bypass Surgery[J]. Chinese Journal of Mechanical Engineering, 2018 , 31(4) : 78 -78 . DOI: 10.1186/s10033-018-0278-6

Abstract

Retinal surgery continues to be one of the most technical demanding surgeries for its high manipulation accuracy requirement, small and constrained workspace, and delicate retinal tissue. Robotic systems have the potential to enhance and expand the capabilities of surgeons during retinal surgery. Thus, focusing on retinal vessel bypass surgery, a master-slave robot system is developed in this paper. This robotic system is designed based on characteristics of retinal vascular bypass surgery and analysis of the surgical workspace in eyeball. A novel end-efector of two degrees of freedom is designed and a novel remote center of motion mechanism is adopted in the robot structure. The kinematics and the mapping relationship are then established, the gravity compensation control strategy and the hand tremor elimination algorithm are applied to achieve the high motion accuracy. The experiments on an artifcial eyeball and an in vitro porcine eye are conducted, verifying the feasibility of this system.

Key words： Retinal robotic system; Mechanism design; Kinematics; Gravity compensation

参考文献

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