A Palm-Sized Anthropomorphic Parallel-Serial Robot for Ophthalmic Surgery
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Journal Volume
117
Start Page
321
End Page
326
ISSN
2159-6247
ISBN (of the container)
9798350355369
ISBN
9798350355369
Date Issued
2024-07-15
Author(s)
Yung-Chen Wu
DOI
10.1109/AIM55361.2024.10637098
Abstract
Deriving from the posture of instrument holding of human surgeons, this paper develops a hybrid parallel-serial robot for ophthalmic surgeries. Each serial branch makes use of a compact five-bar mechanism for distal actuation with increased rigidity in the direction of gravity. The designed robot manipulator has a variable remote center of motion (RCM), such that small eye ball motion can be compensated for without translating the entire platform. As such, the alignment can be less time-consuming, as opposed to those fixed RCM designs. To streamline the multi-tool surgery, a passive tool exchange mechanism is proposed. The mechanism utilizes the bi-stable positions of push-push button to load and unload the surgical instrument, whereas the permanent magnets and kinematic coupling on the manipulator serves to constrain the tool with adequate fixation force. The physical prototype confirms the sufficient range of motion for retinal operations and the tool exchange capability.
Event(s)
2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2024, Boston15 July 2024 through 19 July 2024. Code 202065
SDGs
Publisher
IEEE
Type
conference paper