Design and Analysis of a Robot-Assisted Manipulator In Retinal Vascular Bypass Surgery

摘要：

　　Retinal vascular bypass surgery (RVBS) is a kind of complicated operation, with high precision and dexterous manipulation limited to small workspace.It is necessary to design a robot-assisted manipulator for performing such a task.The process of RVBS is described according to clinic operation at first.The motion of surgeon and workspace of surgical instruments are analyzed; correspondingly, motions of robot-assisted manipulator are obtained.Then, mechanism of manipulator including remote center of motion (RCM) is proposed through considering constraints induced by pierce points of sclera.Finally, inverse kinematics of the proposed robot-assisted manipulator is done to realize retinal surface motion.The analysis results show the end-effectors of robot-assisted manipulator can reach arbitrary position on the retinal surface.

关键词： Robot-assisted manipulator retinal vascular bypass surgery retinal surface motion

作者: Huang Long Zhang Leiyu Yang Yang Shen Lijun Chen Yiqi

作者单位: School of Mechanical Engineering and Automation,Beihang University,Beijing,100191,China Eye hospital of Wenzhou Medical College,Wenzhou,Zhejiang,325027,China

会议类型: 国际会议

会议名称: the 3nd International Conference on Digital Manufacturing & Automation (第三届数字制造与自动化国际会议(ICDMA 2012))

会议地点: 桂林

会议语种:英文

页码: 673-678

在线出版日期: 2012-08-01（万方平台首次上网日期，不代表论文的发表时间）