典型文献
Eye Robotic System for Vitreoretinal Surgery
文献摘要：
Micro incision vitrectomy system (MIVS) is considered to be one of the most difficult tasks of eye surgery,due to its requirements of high accuracy and delicate operation under blurred vision environment.There-fore,robot-assisted ophthalmic surgery is a potential and efficient solution.Based on that consideration,a novel master-slave system for vitreoretinal surgery is realized.A 4-DOF remote center of motion (RCM) mechanism with a novel linear stage and end-effector is designed and the master-slave control system is implemented.The forward and inverse kinematics are analyzed for the controller implementation.Then,algorithms with motion scaling are also integrated into the control architecture for the purpose to enhance the surgeon's operation accu-racy.Finally,experiments on an eye model are conducted.The results show that the eye robotic system can fulfill surgeon's motion following and simulate operation of vitrectomy,demonstrating the feasibility of this system.
文献关键词：
中图分类号：
作者姓名：
DAI Qianlin;XU Mengqiao;SUN Xiaodong;XIE Le
作者机构：
Institute of Forming Technology & Equipment,Shanghai Jiao Tong University,Shanghai 200030,China;Department of Ophthalmology,Shanghai General Hospital,Shanghai 200080,China;Institute of Medical Robotics,Shanghai Jiao Tong University,Shanghai 200240,China
文献出处：
引用格式：
[1]DAI Qianlin;XU Mengqiao;SUN Xiaodong;XIE Le-.Eye Robotic System for Vitreoretinal Surgery)[J].上海交通大学学报（英文版）,2022(01):1-6
A类：
Vitreoretinal,MIVS,vitreoretinal
B类：
Eye,Robotic,System,Surgery,Micro,incision,vitrectomy,system,considered,be,one,most,difficult,tasks,eye,surgery,due,its,requirements,high,accuracy,delicate,operation,under,blurred,vision,environment,There,fore,assisted,ophthalmic,potential,efficient,solution,Based,that,consideration,novel,master,slave,realized,DOF,remote,center,motion,RCM,mechanism,linear,stage,end,effector,designed,implemented,forward,inverse,kinematics,are,analyzed,controller,implementation,Then,algorithms,scaling,also,integrated,into,architecture,purpose,enhance,surgeon,Finally,experiments,model,conducted,results,show,robotic,can,fulfill,following,simulate,demonstrating,feasibility,this
AB值：
0.625066
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
