肖晶晶, 杨洋, 沈丽君, 陈亦棋, 黄龙. 视网膜血管搭桥手术机器人系统的研究[J]. 机器人, 2014, 36(3): 293-299. DOI: 10.3724/SP.J.1218.2014.00293
引用本文: 肖晶晶, 杨洋, 沈丽君, 陈亦棋, 黄龙. 视网膜血管搭桥手术机器人系统的研究[J]. 机器人, 2014, 36(3): 293-299. DOI: 10.3724/SP.J.1218.2014.00293
XIAO Jingjing, YANG Yang, SHEN Lijun, CHEN Yiqi, HUANG Long. A Robotic System for Retinal Vascular Bypass Surgery[J]. ROBOT, 2014, 36(3): 293-299. DOI: 10.3724/SP.J.1218.2014.00293
Citation: XIAO Jingjing, YANG Yang, SHEN Lijun, CHEN Yiqi, HUANG Long. A Robotic System for Retinal Vascular Bypass Surgery[J]. ROBOT, 2014, 36(3): 293-299. DOI: 10.3724/SP.J.1218.2014.00293

视网膜血管搭桥手术机器人系统的研究

A Robotic System for Retinal Vascular Bypass Surgery

  • 摘要: 针对医生人工操作的生理学颤抖造成视网膜血管搭桥手术成功率低的问题,提出了用于辅助医生进行手术操作的机器人系统.在借鉴眼科显微手术机器人系统研究经验的基础上,基于视网膜血管搭桥手术的过程和特点,提出了合理的机器人系统整体设计方案,介绍了机器人的关键机构设计.对临床应用进行了初步探讨,确定了视网膜血管搭桥手术机器人系统的人机协同操作手术流程,提出了手术环境布置方案.最后,在开发研制原理样机的基础上列出了机器人性能指标,对视网膜表面平行运动进行了轨迹规划和仿真,在乒乓球模型上进行了可行性分析实验,并提出了安全保障措施.实验表明,系统设计满足要求,可以初步完成手术动作.

     

    Abstract: For the low success rate of the retinal vascular bypass surgery (RVBS) caused by physical tremor of human hands, a robotic assisted system is proposed. With reference to the study of the earlier robotic systems for ophthalmology microsurgery, a reasonable overall design of robotic system is proposed according to the procedures and features of RVBS, and the key mechanisms are presented. After discussion of the clinical application, the coordinated human-machine surgical process of the robotic system for RVBS is established, and the design of the surgical layout environmental scheme is proposed. Then, the trajectory planning and simulation of the retinal surface parallel motion are performed. On the basis of the prototype system, the robot performance specifications are listed, the feasibility analysis experiment is carried out on a table tennis ball model, and finally the safety precautions are proposed. The experiment shows that the robotic system can meet the requirements and is capable of surgical operations.

     

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