H. Natalius, Med Physics, P. Lambert, L. Cruz, C. Bergeles, B. Eng
{"title":"A Non-Axisymmetric Parallel Manipulator for Head Stabilisation in Vitreoretinal Surgery","authors":"H. Natalius, Med Physics, P. Lambert, L. Cruz, C. Bergeles, B. Eng","doi":"10.31256/yi5od4a","DOIUrl":null,"url":null,"abstract":"Kingdom 0000-0002-9152-3194 Abstract —A non-axisymmetric parallel manipulator headrest design was previously proposed to counter patient head motion during ophthalmic surgery, and a non-motorized prototype was built. Custom linear actuators were designed, and installed to the headrest manipulator prototype in preparation for kinematic performance test. An inverse kinematic-based control algorithm was implemented, and initial kinematic testing was done. Finally, the future plans for the research are","PeriodicalId":447290,"journal":{"name":"UKRAS21 Conference: Robotics at home Proceedings","volume":"3 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"UKRAS21 Conference: Robotics at home Proceedings","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.31256/yi5od4a","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Kingdom 0000-0002-9152-3194 Abstract —A non-axisymmetric parallel manipulator headrest design was previously proposed to counter patient head motion during ophthalmic surgery, and a non-motorized prototype was built. Custom linear actuators were designed, and installed to the headrest manipulator prototype in preparation for kinematic performance test. An inverse kinematic-based control algorithm was implemented, and initial kinematic testing was done. Finally, the future plans for the research are
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