TY - GEN
T1 - IRIS
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
AU - He, Xingchi
AU - Van Geirt, Vincent
AU - Gehlbach, Peter
AU - Taylor, Russell
AU - Iordachita, Iulian
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - Retinal surgery is one of the most technically challenging surgical disciplines. Many robotic systems have been developed to enhance the surgical capabilities. However, very few of them provide the surgeon the dexterity within the patient's eye to enable more flexible, more advanced surgical procedures. This paper presents a sub-millimeter intraocular dexterous robot, the Integrated Robotic Intraocular Snake (IRIS). The variable neutral-line mechanism is used to provide very high dexterity with a very small form factor. The IRIS distal dexterous unit is 0.9 mm in diameter and about 3 mm in length. It enables two rotational degrees of freedom at the distal end of the ophthalmic instruments. The analysis on contact mechanics provides a reference for the adjustment of the wire pretension. Redundant actuation is implemented by using one motor for each wire. A motion scaling transmission is developed to overcome the suboptimal resolution of the motors. A scale-up model of the IRIS is built for initial experimental evaluation. Preliminary results show that the scale-up IRIS can provide large range of motion. For given bending angle, the kinematic model can estimate the desired wire translation when the friction is not significant. The first prototype of the actual-scale IRIS is assembled and tested.
AB - Retinal surgery is one of the most technically challenging surgical disciplines. Many robotic systems have been developed to enhance the surgical capabilities. However, very few of them provide the surgeon the dexterity within the patient's eye to enable more flexible, more advanced surgical procedures. This paper presents a sub-millimeter intraocular dexterous robot, the Integrated Robotic Intraocular Snake (IRIS). The variable neutral-line mechanism is used to provide very high dexterity with a very small form factor. The IRIS distal dexterous unit is 0.9 mm in diameter and about 3 mm in length. It enables two rotational degrees of freedom at the distal end of the ophthalmic instruments. The analysis on contact mechanics provides a reference for the adjustment of the wire pretension. Redundant actuation is implemented by using one motor for each wire. A motion scaling transmission is developed to overcome the suboptimal resolution of the motors. A scale-up model of the IRIS is built for initial experimental evaluation. Preliminary results show that the scale-up IRIS can provide large range of motion. For given bending angle, the kinematic model can estimate the desired wire translation when the friction is not significant. The first prototype of the actual-scale IRIS is assembled and tested.
UR - http://www.scopus.com/inward/record.url?scp=84938231414&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84938231414&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139426
DO - 10.1109/ICRA.2015.7139426
M3 - Conference contribution
AN - SCOPUS:84938231414
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1764
EP - 1769
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 26 May 2015 through 30 May 2015
ER -