TY - GEN
T1 - Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot
AU - Roth, Robert
AU - Wu, Jiahao
AU - Alamdar, Alireza
AU - Taylor, Russell H.
AU - Gehlbach, Peter
AU - Iordachita, Iulian
N1 - Funding Information:
*Research supported by U.S. National Institutes of Health under grant number 1R01EB025883-01A1 and JHU internal funds.
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
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U2 - 10.1109/ISMR48346.2021.9661579
DO - 10.1109/ISMR48346.2021.9661579
M3 - Conference contribution
AN - SCOPUS:85124791222
T3 - 2021 International Symposium on Medical Robotics, ISMR 2021
BT - 2021 International Symposium on Medical Robotics, ISMR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 International Symposium on Medical Robotics, ISMR 2021
Y2 - 17 November 2021 through 19 November 2021
ER -