用于眼科手术的多极电磁机器人平台的优化设计。

Optimal Design of a Multipole-Electromagnet Robotic Platform for Ophthalmic Surgery.

作者信息

Chen Ruipeng, Folio David, Ferreira Antoine

机构信息

INSA Centre Val de Loire, 88 Boulevard Lahitolle, 18000 Bourges, France.

出版信息

Micromachines (Basel). 2022 Dec 29;14(1):91. doi: 10.3390/mi14010091.

DOI:10.3390/mi14010091

PMID:36677152

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9865419/

Abstract

The aim of this study was to design a multipole-electromagnet robotic platform named OctoRob. This platform provides a minimally invasive means for targeted therapeutic interventions in specific intraocular areas. OctoRob is capable of generating both appropriate magnetic fields and gradients. The main scientific objectives were: (i) To propose an optimal reconfigurable arrangement of electromagnets suitable for ophthalmic interventions. (ii) To model, design and implement a one-degree-of-freedom robotic arm connected with an electromagnet in order to optimize the generation of magnetic fields and gradients. (iii) To evaluate the magnetic performances of the OctoRob platform, including different tilted angles. The results show that OctoRob platform has great potential to be applied for ophthalmic surgery.

摘要

本研究的目的是设计一个名为OctoRob的多极电磁机器人平台。该平台为特定眼内区域的靶向治疗干预提供了一种微创手段。OctoRob能够产生合适的磁场和梯度。主要科学目标是：(i)提出一种适用于眼科干预的电磁体最优可重构排列。(ii)对与电磁体相连的单自由度机器人手臂进行建模、设计和实现，以优化磁场和梯度的产生。(iii)评估OctoRob平台的磁性能，包括不同倾斜角度。结果表明，OctoRob平台在眼科手术中具有很大的应用潜力。