Journal ArticleDOI
A parallel robot to assist vitreoretinal surgery.
Taiga Nakano,Naohiko Sugita,Takashi Ueta,Yasuhiro Tamaki,Mamoru Mitsuishi +4 more
- Vol. 4, Iss: 6, pp 517-526
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TLDR
This microsurgical system that is developed has superior operability as compared to traditional manual procedure and has sufficient potential to be used clinically for vitreoretinal surgery.Abstract:
This paper describes the development and evaluation of a parallel prototype robot for vitreoretinal surgery where physiological hand tremor limits performance. 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 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. 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.read more
Citations
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Proceedings ArticleDOI
New steady-hand Eye Robot with micro-force sensing for vitreoretinal surgery
Ali Uneri,Marcin Balicki,James T. Handa,Peter L. Gehlbach,Russell H. Taylor,Iulian Iordachita +5 more
TL;DR: A new generation, cooperatively controlled microsurgery robot with a remote center-of-motion (RCM) mechanism and an integrated custom micro-force sensing surgical hook is presented and a micro- force guided cooperative control algorithm is implemented to actively guide the operator.
Journal ArticleDOI
From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots
TL;DR: An overview of the significant achievements in surgical robotics is provided and the current trends and future research directions of the field in making surgical robots safer, smaller, and smarter are identified.
Journal ArticleDOI
First-in-human study of the safety and viability of intraocular robotic surgery
Thomas L Edwards,Kanmin Xue,H.C.M. Meenink,Maarten Beelen,Gerrit Naus,Matthew P. Simunovic,M. Latasiewicz,Andrew D. Farmery,M. D. de Smet,Robert E MacLaren +9 more
TL;DR: A first-in-man study of robotic-assisted intraocular surgery shows the feasibility and safety of the robotic device for the peeling of retinal membranes and for the injection of a therapeutic under the retina.
Journal ArticleDOI
Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and Its Evolved Mechanism
TL;DR: In this article, a metamorphic kinematic pair extracted from origami folds in the context of mechanisms, its evolved meta-chain, and the novel meta-parallel mechanism are presented.
Book ChapterDOI
Micro-force sensing in robot assisted membrane peeling for vitreoretinal surgery
Marcin Balicki,Ali Uneri,Iulian Iordachita,James T. Handa,Peter L. Gehlbach,Russell H. Taylor +5 more
TL;DR: Findings show that auditory sensory substitution decreased peeling forces in all tests, and that robotic force scaling with audio feedback is the most promising aid in reducingPeeling forces and task completion time.
References
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Book
Engineering data compendium : human perception and performance
Kenneth R. Boff,Janet E. Lincoln +1 more
Journal ArticleDOI
Toward active tremor canceling in handheld microsurgical instruments
TL;DR: This work has taken the novel approach of developing a handheld instrument that senses its own movement, distinguishes between desired and undesired motion, and deflects its tip to perform active compensation of the undesired component.
Proceedings ArticleDOI
Development and Application of a New Steady-Hand Manipulator for Retinal Surgery
Ben Mitchell,J. Koo,M. Iordachita,Peter Kazanzides,Ankur Kapoor,James T. Handa,Gregory D. Hager,Russell H. Taylor +7 more
TL;DR: The development and initial testing of a new and optimized version of a steady-hand manipulator for retinal microsurgery that makes use of a compact wrist design that places the bulk of the robot away from the operating field, and a protocol for reliably cannulating ~80 mum OD veins using the system.
Journal ArticleDOI
Direct kinematics and assembly modes of parallel manipulators
TL;DR: This article addresses the problem of the direct kinematics of parallel manipulators and the corollary problem of their assembly modes (i.e., the different ways of assembling these mechanisms when their geometry are fixed), and introduces a more general approach.
Proceedings ArticleDOI
Physiological tremor amplitude during retinal microsurgery
S.P.N. Singhy,Cameron N. Riviere +1 more
TL;DR: Using an instrumented surgical tool, high-precision recordings of hand tremor were taken during vitreoretinal microsurgery to provide an important baseline for design specification and performance evaluation of engineered microsurgical devices.