摘要
Micro incision vitrectomy system(MIVS)is considered to be one of the most difficult tasks of eye surgery,due to its requirements of high accuracy and delicate operation under blurred vision environment.Therefore,robot-assisted ophthalmic surgery is a potential and efficient solution.Based on that consideration,a novel master-slave system for vitreoretinal surgery is realized.A 4-DOF remote center of motion(RCM)mechanism with a novel linear stage and end-effector is designed and the master-slave control system is implemented.The forward and inverse kinematics are analyzed for the controller implementation.Then,algorithms with motion scaling are also integrated into the control architecture for the purpose to enhance the surgeon’s operation accuracy.Finally,experiments on an eye model are conducted.The results show that the eye robotic system can fulfill surgeon’s motion following and simulate operation of vitrectomy,demonstrating the feasibility of this system.
作者
DAI Qianlin
XU Mengqiao
SUN Xiaodong
XIE Le
代倩琳;徐梦乔;陈晓东;谢叻(Institute of Forming Technology&Equipment,Shanghai Jiao Tong University,Shanghai 200030,China;Department of Ophthalmology,Shanghai General Hospital,Shanghai 200080,China;Institute of Medical Robotics,Shanghai Jiao Tong University,Shanghai 200240,China)
基金
the National Natural Science Foundation of China(Nos.61973211,51911540479 and M-0221)
the Project of Science and Technology Commission of Shanghai Municipality(Nos.21550714200 and 20DZ2220400)
the Research Project of Institute of Medical Robotics of Shanghai Jiao Tong University
the Interdisciplinary Program of Shanghai Jiao Tong University(Nos.ZH2018QNB31 and YG2017ZD03)。
