眼内内視鏡操作ロボットアームの開発

抄録

In vitreoretinal surgery, endoscopes are not often used despite their many advantages. We have developed the intraocular endoscope manipulator which has 8 degrees of freedom for vitreoretinal surgery. The manipulator was designed to be used with a microscope at the same time and to be able to obtain the field of view from the back of the iris to the ocular fundus by manipulating the endoscope. In the experiment, the manipulator operated the intraocular endoscope in an environment simulating surgery. It was confirmed that the robot can operate without interfering with the operator and the microscope and obtain the necessary field of view for surgery.