一种新型微创手术机器人机构，具有机械运动可扩展性，可用于眼科和重建手术。
A novel microsurgery robot mechanism with mechanical motion scalability for intraocular and reconstructive surgery.
机构信息
Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
EasyEndo Surgical Inc., Daejeon, Republic of Korea.
出版信息
Int J Med Robot. 2021 Jun;17(3):e2240. doi: 10.1002/rcs.2240. Epub 2021 Mar 21.
BACKGROUND
Intraocular surgery and reconstructive surgery are challenging microsurgery procedures that require two types of motion: precise motion and larger motion. To effectively perform the requisite motion using a robot, it is necessary to develop a manipulator that can adjust the scale of motion between precise motion and less precise, yet larger motion.
AIMS
In this paper, we propose a novel microsurgery robot using the dual delta structure (DDS) to mechanically scale the motion to seamlessly adjust between precise and larger motion. MATERIALS & METHODS: The DDS forms a lever mechanism that enables the motion scaling at the end-effector using two delta platforms. Seamless scale adjustment enables the robot to effectively perform various surgical moves.
RESULTS
A prototype robot system was developed to validate the effectiveness of the DDS. The experiment results in various scale settings validated the scaling mechanism of the DDS.
CONCLUSION
Through a graphical simulation and measurement experiment, the robot's precision level and attainable workspace has been confirmed adequate for intraocular and reconstructive surgery.
背景
眼内手术和重建手术是具有挑战性的微创手术，需要两种运动类型：精确运动和较大运动。为了使用机器人有效地执行所需的运动，有必要开发一种能够在精确运动和不那么精确但更大的运动之间调整运动规模的操纵器。
目的
在本文中，我们提出了一种使用双三角结构（DDS）的新型微创手术机器人，通过机械方式对运动进行缩放，从而在精确运动和较大运动之间实现无缝调整。
材料与方法
DDS 形成了一种杠杆机构，可使用两个三角洲平台在末端执行器上实现运动缩放。无缝的缩放调整使机器人能够有效地执行各种手术动作。
结果
开发了一个原型机器人系统来验证 DDS 的有效性。在各种缩放设置下的实验结果验证了 DDS 的缩放机制。
结论
通过图形模拟和测量实验，已经证实该机器人的精度水平和可达工作空间足以满足眼内和重建手术的需求。
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