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research.eyerobots [2013/11/25 12:57]
xhe11@johnshopkins.edu [EyeRobot2.1]
research.eyerobots [2013/11/25 12:58] (current)
xhe11@johnshopkins.edu [EyeRobot2.1]
Line 34: Line 34:
 The new RCM tilt mechanism offers a symmetric structure that can be used by both left- and right-handed users, and also enables a two-robot configuration for bilateral manipulation. It can provide a tilt motion range of +/- 45 deg which guarantees sufficient workspace for vitreoretinal surgery. We also analyzed the kinematics of the new RCM tilt mechanism. It demonstrates a fairly linear mapping between the translation of the linear stage and the RCM tilt angle. This can facilitate implementation of more sophisticated control algorithms for micromanipulation. The stiffness of the new RCM tilt mechanism is evaluated with both FEA simulation and experiments. The simulation and the experiment results are consistent with a constant offset. The actual stiffness measured in the experiment is 48.54 N/mm at the negative extreme position, 20.92 N/mm at the center position and 51.02 N/mm at the positive extreme position.  The new RCM tilt mechanism offers a symmetric structure that can be used by both left- and right-handed users, and also enables a two-robot configuration for bilateral manipulation. It can provide a tilt motion range of +/- 45 deg which guarantees sufficient workspace for vitreoretinal surgery. We also analyzed the kinematics of the new RCM tilt mechanism. It demonstrates a fairly linear mapping between the translation of the linear stage and the RCM tilt angle. This can facilitate implementation of more sophisticated control algorithms for micromanipulation. The stiffness of the new RCM tilt mechanism is evaluated with both FEA simulation and experiments. The simulation and the experiment results are consistent with a constant offset. The actual stiffness measured in the experiment is 48.54 N/mm at the negative extreme position, 20.92 N/mm at the center position and 51.02 N/mm at the positive extreme position. 
  
-The tool holder enables several important features in a very compact package. It provides axial fixation of the tool while allowing the DOF of rotation about tool axis (spin). It can be easily attached and detached from the robot wrist using a set screw. This enables the separation between sterilizable and non-sterilizable parts that is essential for clinical use of the Eye Robot. The quick release mechanism allows the emergency retraction of the tool from the tool holder, as well as a convenient way to switch between different surgical tools. We designed one "soft" tool with low release force threshold of 2-3 N and one "hard" tool with high release force threshold of 5-6 N. We repeated the experiment of inserting and retracting the tool. The experiment results show that the release force thresholds for both tools are consistent+The tool holder enables several important features in a very compact package. It provides axial fixation of the tool while allowing the DOF of rotation about tool axis (spin). It can be easily attached and detached from the robot wrist using a set screw. This enables the separation between sterilizable and non-sterilizable parts that is essential for clinical use of the Eye Robot. The quick release mechanism allows the emergency retraction of the tool from the tool holder, as well as a convenient way to switch between different surgical tools. We designed one "soft" tool with low release force threshold of 2-3 N and one "hard" tool with high release force threshold of 5-6 N.
 ===== Applications ===== ===== Applications =====
 ==== Retinal Vein Cannulation ==== ==== Retinal Vein Cannulation ====
research.eyerobots.txt · Last modified: 2013/11/25 12:58 by xhe11@johnshopkins.edu




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