Intraocular snake integrated with the steady-hand eye robot for assisted retinal microsurgery

摘要: Due to the confined intraocular space and physical constraints in tool manipulation, snake-like robots have a significant potential for use retinal microsurgery. By enhancing dexterity at tip, not only operable on retina can be enlarged, but also delicate target tissues reached an optimal angle minimizing damage making operation much easier. In this study, we present improved version of our earlier integrated snake (IRIS) robot, combine it with another robotic assistant: cooperatively controlled Steady-Hand Eye Robot (SHER). SHER is used drive IRIS close precision, while makes omnidirectional bends by combining its yaw pitch motions provides significantly enhanced holding sclerotomy port fixed. For precise control IRIS, tip actuation has been characterized through experiments considering both free external loading tip. The workspace analysis showed ±45° excellent repeatability (±1°) despite highly miniaturized articulated segment length (3 mm) very thin shaft (0 0.9 mm). Our preliminary artificial eye model shown feasibility reaching targets requiring up 55° accurately.