2P2-H11 A microsurgical robot to assist vitreoretinal surgery(Surgical Robotics and Mechatronics)

Abstract

This study aimed to develop a microsurgical robot for vitreoretinal surgery. The microsurgical system for vitreoretinal surgery was designed to meet most of requirements such as degree of freedom, accuracy, and workspace. This system provides high accuracy with resolution of micrometer level in the eye and has a tool change mechanism for the surgical instruments. The manipulator is controlled by the surgeon with a master manipulator consisting of multiple joints. Microcannulation experiments were performed in the pig eye using the manual and developed systems, and the outcome was compared between these systems. The surgeon successfully performed the microcannulation with developed system but not with the manual system.