Development of remote centre of motion (RCM) robotic manipulator for eye surgery
Vitreoretinal eye surgery is one of the surgical procedures that require high precision and accuracy in terms of tool placement and orientation. Due to the need to insert a surgical tool into the eyeball through an insertion point in the eye (trocar), a special mechanism to assists ophthalmologis...
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| Format: | Final Year Project |
| Language: | English |
| Published: |
2018
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10356/74480 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Vitreoretinal eye surgery is one of the surgical procedures that require high
precision and accuracy in terms of tool placement and orientation. Due to the need
to insert a surgical tool into the eyeball through an insertion point in the eye
(trocar), a special mechanism to assists ophthalmologists in constraining the
surgical instrument so that it does not divert away from the trocar need to be
taken into further research.
In this study, a Remote Centre of Motion (RCM) mechanism will be designed and
developed so that it could provide the ability to maneuver surgical tool tip inside
the eye without affecting the trocar. The robotic manipulator will also be able to
lock itself in place when there is no movement exerted into the mechanism. The
capability of the robotic manipulator will be demonstrated in the experiment
where it will be able to reach several targets inside a small container through a
small hole on the container lid. |
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