A Robotic System for Retinal Vascular Bypass Surgery

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.