抄録
This paper describes the development and evaluation of a prototype microsurgical system for vitreoretinal surgery where physiological hand tremor limits the performance of a hand. The system consists of two manipulators designed to meet requirements such as size, precision, and sterilization; one has six-degree-of-freedom parallel architecture and provides micrometer positioning accuracy of a surgical instrument within the eye. The manipulator is controlled by an operator with the other manipulator consisting of multiple joints. Results of the in vitro experiments revealed that as compared to the manual procedure, a higher stability and accuracy of tool positioning could be achieved by the aid of our system. The system was also tested in a biological model, and we successfully cannulated the retinal vessels (OD, 70-100μm). This microsurgical system that we developed has superior operability as compared to traditional manual procedure and has sufficient potential to be used clinically for vitreoretinal surgery.
