Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot

Robert Roth, Jiahao Wu, Alireza Alamdar, Russell H. Taylor, Peter Gehlbach, Iulian Iordachita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Cooperative robotic systems for vitreoretinal surgery can enable novel surgical approaches by allowing the surgeon to perform procedures with enhanced stabilization and high accuracy tool movements. This paper presents the optimization and design of a four-bar linkage type tilt mechanism for a novel Steady-Hand Eye Robot (SHER) which can be used equivalently on both, the left and right patient side, during a bilateral approach with two robots. In this optimization, it is desirable to limit the workspace needed for compensation motions that ensure a virtual remote center of motion (V-RCM). The safety space around the patient, the space for the surgeon's hand and maintaining positional accuracy are also included in the optimization. The applicability of the resulting optimized mechanism was confirmed with a design prototype in a representative mock-up of the surgical setting allowing multiple directions of robot approach towards a medical phantom.

Original languageEnglish (US)
Title of host publication2021 International Symposium on Medical Robotics, ISMR 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665406222
DOIs
StatePublished - 2021
Externally publishedYes
Event2021 International Symposium on Medical Robotics, ISMR 2021 - Atlanta, United States
Duration: Nov 17 2021Nov 19 2021

Publication series

Name2021 International Symposium on Medical Robotics, ISMR 2021

Conference

Conference2021 International Symposium on Medical Robotics, ISMR 2021
Country/TerritoryUnited States
CityAtlanta
Period11/17/2111/19/21

ASJC Scopus subject areas

  • Mechanical Engineering
  • Control and Optimization
  • Surgery
  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering

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