PURPOSE: This paper describes the development and evaluation of a parallel prototype robot for vitreoretinal surgery where physiological hand tremor limits performance. METHODS: 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: 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. CONCLUSIONS: 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.
PURPOSE: This paper describes the development and evaluation of a parallel prototype robot for vitreoretinal surgery where physiological hand tremor limits performance. METHODS: 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: 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. CONCLUSIONS: 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.
Authors: Theodore Leng; Jason M Miller; Kalayaan V Bilbao; Daniel V Palanker; Philip Huie; Mark S Blumenkranz Journal: Retina Date: 2004-06 Impact factor: 4.256
Authors: Dan H Bourla; Jean Pierre Hubschman; Martin Culjat; Angelo Tsirbas; Anurag Gupta; Steven D Schwartz Journal: Retina Date: 2008-01 Impact factor: 4.256
Authors: Ioana Fleming; Marcin Balicki; John Koo; Iulian Iordachita; Ben Mitchell; James Handa; Gregory Hager; Russell Taylor Journal: Med Image Comput Comput Assist Interv Date: 2008
Authors: Marcin Balicki; Ali Uneri; Iulian Iordachita; James Handa; Peter Gehlbach; Russell Taylor Journal: Med Image Comput Comput Assist Interv Date: 2010
Authors: Xingchi He; Marcin Balicki; Peter Gehlbach; James Handa; Russell Taylor; Iulian Iordachita Journal: IEEE Int Conf Robot Autom Date: 2013-12-31
Authors: Ali Uneri; Marcin A Balicki; James Handa; Peter Gehlbach; Russell H Taylor; Iulian Iordachita Journal: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron Date: 2010-09-01
Authors: T L Edwards; K Xue; H C M Meenink; M J Beelen; G J L Naus; M P Simunovic; M Latasiewicz; A D Farmery; M D de Smet; R E MacLaren Journal: Nat Biomed Eng Date: 2018-06-18 Impact factor: 25.671