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Technical Brief

Design and Research of a Robotic Aided System for Retinal Vascular Bypass Surgery

[+] Author and Article Information
Xiao Jingjing, Huang Long

School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China

Shen Lijun

Eye Hospital of Wenzhou Medical College,
Wenzhou,
Zhejiang 325027, China

Yang Yang

School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China
e-mail: yang_mech@buaa.edu.cn

1Corresponding author.

Manuscript received July 25, 2013; final manuscript received March 6, 2014; published online xx xx, xxxx. Assoc. Editor: Carl Nelson.

J. Med. Devices 8(4), 044501 (Aug 19, 2014) (6 pages) Paper No: MED-13-1181; doi: 10.1115/1.4027230 History: Received July 25, 2013; Revised March 06, 2014

With reference to the study of the robotic system for ophthalmology microsurgery, a robotic system was presented with the key mechanism design and control subsystem scheme considering the procedures and features of retinal vascular bypass surgery. After discussion of the clinical application, the human-machine cooperated surgical process of the robotic system for retinal vascular bypass surgery was described, and the design of the surgical layout environment was proposed. The intraocular motion planning method was also described and corresponding experiments using a table tennis ball model and an in vitro porcine eye model were performed. Finally, the feasibility analysis and robotic system error analysis were also summarized and future works discussed for further research.

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Figures

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Fig. 1

Scenarios of RVBS. Left: micro scenario. Right: macro scenario.

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Fig. 2

System description: (a) photograph of the robotic system and (b) the schematic diagram. (c) A 2 degrees of freedom RCM structure consists of a revolute pair combined with (d) a dual-parallelogram-based mechanism. (e) Custom-made end-effectors of the two manipulators. (f) Control subsystem schematics. (g) The human-machine cooperative surgical procedures and (h) its layout environmental scheme, including ① left manipulator and vibration isolation table, ② right manipulator and vibration isolation table, ③ microscope, ④ patient and operating table, ⑤ main surgeon and his control panel on main surgeon controller, ⑥ nurse, ⑦ surgeon assistant and PC and robot controller, and ⑧ view field display of microscope.

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Fig. 3

Schematic diagram of motion parallel to the retinal surface

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Fig. 4

(a) Experiments on a table tennis ball model and (b) an in vitro porcine eye model. (c) Path simulation of instrument tip in the motion parallel to the retinal surface and (d) flow chart of procedures.

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Fig. 5

Distribution of relative position error for end-effector: (a) overview picture, (b) XOY projection, and (c) XOZ projection

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