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A novel microsurgery robot mechanism with mechanical motion scalability for intraocular and reconstructive surgery
Author(s) -
Yang UnJe,
Kim Duksang,
Hwang Minho,
Kong Dukyoo,
Kim JoonHwan,
Nho YoungHoon,
Lee WonKi,
Kwon DongSoo
Publication year - 2021
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.2240
Subject(s) - computer science , workspace , motion (physics) , microsurgery , robot , robotic surgery , mechanism (biology) , robot end effector , simulation , artificial intelligence , computer vision , surgery , medicine , physics , quantum mechanics
Background Intraocular surgery and reconstructive surgery are challenging microsurgery procedures that require two types of motion: precise motion and larger motion. To effectively perform the requisite motion using a robot, it is necessary to develop a manipulator that can adjust the scale of motion between precise motion and less precise, yet larger motion. Aims In this paper, we propose a novel microsurgery robot using the dual delta structure (DDS) to mechanically scale the motion to seamlessly adjust between precise and larger motion. Materials & Methods The DDS forms a lever mechanism that enables the motion scaling at the end‐effector using two delta platforms. Seamless scale adjustment enables the robot to effectively perform various surgical moves. Results A prototype robot system was developed to validate the effectiveness of the DDS. The experiment results in various scale settings validated the scaling mechanism of the DDS. Conclusion Through a graphical simulation and measurement experiment, the robot's precision level and attainable workspace has been confirmed adequate for intraocular and reconstructive surgery.