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A parallel robot to assist vitreoretinal surgery

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

This paper describes the development and evaluation of a parallel prototype robot for vitreoretinal surgery where physiological hand tremor limits performance.

Methods

The manipulator was specifically designed to meet requirements such as size, precision, and sterilization; this has six-degree-of-freedom parallel architecture and provides positioning accuracy with micrometer resolution within the eye. The manipulator is controlled by an operator with a “master manipulator” consisting of multiple joints.

Results

Results of the in vitro experiments revealed that when compared to the manual procedure, a higher stability and accuracy of tool positioning could be achieved using the prototype robot.

Conclusions

This microsurgical system that we have developed has superior operability as compared to traditional manual procedure and has sufficient potential to be used clinically for vitreoretinal surgery.

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Authors and Affiliations

  1. School of Engineering, The University of Tokyo, 7-3-1 Hongo Bunkyo-ku, Tokyo, 113-8656, Japan

    Taiga Nakano, Naohiko Sugita & Mamoru Mitsuishi

  2. Graduate School of Medicine, The University of Tokyo, 7-3-1 Hongo Bunkyo-ku, Tokyo, 113-8656, Japan

    Takashi Ueta & Yasuhiro Tamaki

Authors
  1. Taiga Nakano
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  2. Naohiko Sugita
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  3. Takashi Ueta
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  4. Yasuhiro Tamaki
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  5. Mamoru Mitsuishi
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Corresponding author

Correspondence to Taiga Nakano.

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Nakano, T., Sugita, N., Ueta, T. et al. A parallel robot to assist vitreoretinal surgery. Int J CARS 4, 517–526 (2009). https://doi.org/10.1007/s11548-009-0374-2

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  • DOI: https://doi.org/10.1007/s11548-009-0374-2

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