用于眼部手术的具有遥远点的并联机器人：设计、运动学、样机和实验。
A Parallel Robot With Remote Centre-of-Motion for Eye Surgery: Design, Kinematics, Prototype, and Experiments.
机构信息
School of Mechanical and Aerospace Engineering, Queen's University Belfast, Belfast, UK.
Cathedral Eye Clinic, Belfast, UK.
出版信息
Int J Med Robot. 2024 Aug;20(4):e2665. doi: 10.1002/rcs.2665.
BACKGROUND
Millions of patients suffering from eye disease cannot receive proper treatment due to the lack of qualified surgeons. Medical robots have the potential to solve this problem and have attracted significant attention in the research community.
METHOD
This paper proposes a novel parallel robot with a remote centre of motion for minimally invasive eye surgery. Kinematics models, singularity and workspace analyses, and dimension optimisation are conducted. A prototype was developed, and experiments were conducted to test its mobility, accuracy, precision and stiffness.
RESULTS
The prototype robot can successfully perform the required motions, and has a precision ranging from 7 ± 2 μm to 30 ± 8 μm, accuracy from 21 ± 10 μm to 568 ± 374 μm, and stiffness ranging from 1.22 ± 0.39 N/mm to 10.53 ± 5.18 N/mm.
CONCLUSION
The prototype robot has a great potential for performing the minimally invasive surgery. Its stiffness meets the design requirement, but its accuracy and precision need to be further improved.
背景
数百万患有眼疾的患者因缺乏合格的外科医生而无法得到适当的治疗。医疗机器人有解决这个问题的潜力，在研究界引起了广泛关注。
方法
本文提出了一种用于微创眼科手术的具有远程运动中心的新型并联机器人。进行了运动学模型、奇异性和工作空间分析以及尺寸优化。开发了一个原型，并进行了实验以测试其机动性、精度、精度和刚度。
结果
原型机器人能够成功完成所需的运动，其精度范围为 7 ± 2 μm 至 30 ± 8 μm，精度范围为 21 ± 10 μm 至 568 ± 374 μm，刚度范围为 1.22 ± 0.39 N/mm 至 10.53 ± 5.18 N/mm。
结论
原型机器人在进行微创手术方面具有很大的潜力。其刚度满足设计要求，但精度和精度仍需进一步提高。
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