角膜移植显微手术机器人末端执行器的设计

Design of an End Effector Used on Cornea Grafting Microsurgery Robot

摘要: 设计了一种用于角膜移植显微手术机器人系统的末端执行器．末端执行器集成了微力传感器、位移传感器、微型直流电机和环钻，具有体积小、功能完善的特点．它用于系统末端，直接对角膜进行操作．

Abstract: An end effector used on cornea grafting microsurgery robot is designed. Micro-force sensor, displacement sensor, micro-DC motor and trephine is integrated. Small size and perfect performance is its key features. The effector is fixed on the end of robot operating on the cornea directly.