Zhang Qinran, Zhao Jingyu, Wang Sikai, Deng Shijing, Su Peng
School of Electromechanical Engineering, Beijing Information Science and Technology University, Beijing 100192, China.
Beijing Tongren Eye Center, Beijing Institute of Ophthalmology, Capital Medical University, Beijing 100730, China.
Micromachines (Basel). 2023 Aug 19;14(8):1634. doi: 10.3390/mi14081634.
The aim of this paper is to propose laws of trephine operation based on a robot-assisted cutting cornea in order to obtain better microsurgical effects for keratoplasty. Using a trephine robot integrated with a microforce sensor and a handheld trephine manipulator, robotic and manual experiments were performed, with porcine corneas as the test subjects. The effect of trephine operational parameters on the results reflected by the biomechanical response is discussed, and the parameters include linear velocity, rotating angle, and angular velocity. Using probability density functions, the distributions of the manual operational parameters show some randomness, and there is a large fluctuation in the trephine force during the experiments. The biomechanical response shows regular trends in the robotic experiments even under different parameters, and compared to manual trephination, the robot may perform the operation of trephine cornea cutting more stably. Under different operational parameters, the cutting force shows different trends, and the optimal initial parameters that result in better trephine effects can be obtained based on the trends. Based on this derived law, the operational parameters can be set in robotic trephination, and surgeons can also be specially trained to achieve a better microsurgical result.
本文旨在基于机器人辅助切割角膜提出环钻手术的规律，以便在角膜移植术中获得更好的显微手术效果。使用集成了微力传感器的环钻机器人和手持式环钻操纵器，以猪角膜为测试对象进行了机器人和手动实验。讨论了环钻操作参数对生物力学响应所反映结果的影响，这些参数包括线速度、旋转角度和角速度。使用概率密度函数，手动操作参数的分布呈现出一定的随机性，并且在实验过程中环钻力存在较大波动。即使在不同参数下，生物力学响应在机器人实验中也呈现出规律的趋势，与手动环钻相比，机器人进行角膜环钻切割操作可能更稳定。在不同操作参数下，切割力呈现出不同的趋势，基于这些趋势可以获得导致更好环钻效果的最佳初始参数。基于此推导的规律，可以在机器人环钻中设置操作参数，外科医生也可以接受专门培训以获得更好的显微手术结果。
