用于眼科手术的具有远程运动中心的并行机器人：设计、运动学、原型和实验。

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-08-13 DOI:10.1002/rcs.2665

Yinglun Jian, Yan Jin, Mark Price, Johnny Moore

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引用次数: 0

摘要

背景：由于缺乏合格的外科医生，数百万眼疾患者无法得到适当的治疗。医疗机器人有可能解决这一问题，并已引起研究界的极大关注：本文提出了一种用于微创眼科手术的具有远程运动中心的新型并联机器人。本文建立了运动学模型，进行了奇异性和工作空间分析，并对尺寸进行了优化。开发了一个原型，并进行了实验来测试其移动性、准确性、精确性和刚度：结果：机器人原型能够成功完成所需的动作，精度范围为 7 ± 2 μm 至 30 ± 8 μm，准确度范围为 21 ± 10 μm 至 568 ± 374 μm，刚度范围为 1.22 ± 0.39 N/mm 至 10.53 ± 5.18 N/mm：原型机器人在执行微创手术方面潜力巨大。结论：该机器人原型在执行微创手术方面具有巨大潜力，其刚度符合设计要求，但其准确性和精确度有待进一步提高。

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A Parallel Robot With Remote Centre-of-Motion for Eye Surgery: Design, Kinematics, Prototype, and Experiments

Background

Millions of patients suffering from eye disease cannot receive proper treatment due to the lack of qualified surgeons. Medical robots have the potential to solve this problem and have attracted significant attention in the research community.

Method

This paper proposes a novel parallel robot with a remote centre of motion for minimally invasive eye surgery. Kinematics models, singularity and workspace analyses, and dimension optimisation are conducted. A prototype was developed, and experiments were conducted to test its mobility, accuracy, precision and stiffness.

Results

The prototype robot can successfully perform the required motions, and has a precision ranging from 7 ± 2 μm to 30 ± 8 μm, accuracy from 21 ± 10 μm to 568 ± 374 μm, and stiffness ranging from 1.22 ± 0.39 N/mm to 10.53 ± 5.18 N/mm.

Conclusion

The prototype robot has a great potential for performing the minimally invasive surgery. Its stiffness meets the design requirement, but its accuracy and precision need to be further improved.

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.