A novel microsurgery robot mechanism with mechanical motion scalability for intraocular and reconstructive surgery.
Int J Med Robot
; 17(3): e2240, 2021 Jun.
Article
em En
| MEDLINE
| ID: mdl-33599377
ABSTRACT
BACKGROUND:
Intraocular surgery and reconstructive surgery are challenging microsurgery procedures that require two types of motion precise motion and larger motion. To effectively perform the requisite motion using a robot, it is necessary to develop a manipulator that can adjust the scale of motion between precise motion and less precise, yet larger motion.AIMS:
In this paper, we propose a novel microsurgery robot using the dual delta structure (DDS) to mechanically scale the motion to seamlessly adjust between precise and larger motion. MATERIALS &METHODS:
The DDS forms a lever mechanism that enables the motion scaling at the end-effector using two delta platforms. Seamless scale adjustment enables the robot to effectively perform various surgical moves.RESULTS:
A prototype robot system was developed to validate the effectiveness of the DDS. The experiment results in various scale settings validated the scaling mechanism of the DDS.CONCLUSION:
Through a graphical simulation and measurement experiment, the robot's precision level and attainable workspace has been confirmed adequate for intraocular and reconstructive surgery.Palavras-chave
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Procedimentos de Cirurgia Plástica
/
Procedimentos Cirúrgicos Robóticos
Limite:
Humans
Idioma:
En
Ano de publicação:
2021
Tipo de documento:
Article