Design and Preliminary Evaluation of a Serial-Parallel Hybrid Robot for Cataract Surgery

Yu Zheng; Chuang Lin; Yajing Pei; Zilu Chen; Chenhan Guang; Yang Yang; Ke Ma

doi:10.1109/M2VIP62491.2024.10746136

Design and Preliminary Evaluation of a Serial-Parallel Hybrid Robot for Cataract Surgery

Yu Zheng
, Chuang Lin
, Yajing Pei
, Zilu Chen
, Chenhan Guang^*
, Yang Yang
, Ke Ma

^*此作品的通讯作者

机械工程及自动化学院

Nanjing University of Posts and Telecommunications
Beijing Xianwei Medical Technology Company Ltd.
Shanxi Medical University
Beihang University
North China University of Technology
Capital Medical University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

Continuous curvilinear capsulorhexis (CCC) is a delicate operation that may benefit from robot technology. This paper introduces a new hybrid cataract surgery robot that consists of four parallel prismatic pairs connected in series to a "Rotation-Prismatic"unit. Additionally, the paper proposes a master-slave control strategy and a virtual remote center of motion (RCM) algorithm. The virtual RCM is based on the kinematic model of the robot and enables the setting of an arbitrary point on the forceps as the RCM point. Finally, the effectiveness of the proposed robot is verified through experimental evaluations on ex-vivo pig eyeballs.

源语言	英语
主期刊名	2024 30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024
出版商	Institute of Electrical and Electronics Engineers Inc.
版本	2024
ISBN（电子版）	9798350391916
DOI	https://doi.org/10.1109/M2VIP62491.2024.10746136
出版状态	已出版 - 2024
活动	30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024 - Leeds, 英国期限: 3 10月 2024 → 5 10月 2024

会议

会议	30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024
国家/地区	英国
市	Leeds
时期	3/10/24 → 5/10/24

访问文件

10.1109/M2VIP62491.2024.10746136

其它文件与链接

链接到 Scopus 的出版物

引用此

Zheng, Y., Lin, C., Pei, Y., Chen, Z., Guang, C., Yang, Y., & Ma, K. (2024). Design and Preliminary Evaluation of a Serial-Parallel Hybrid Robot for Cataract Surgery. 在 2024 30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024 (2024 编辑). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/M2VIP62491.2024.10746136

@inproceedings{f0d76d37a814495689d021522be2eeda,

title = "Design and Preliminary Evaluation of a Serial-Parallel Hybrid Robot for Cataract Surgery",

abstract = "Continuous curvilinear capsulorhexis (CCC) is a delicate operation that may benefit from robot technology. This paper introduces a new hybrid cataract surgery robot that consists of four parallel prismatic pairs connected in series to a {"}Rotation-Prismatic{"}unit. Additionally, the paper proposes a master-slave control strategy and a virtual remote center of motion (RCM) algorithm. The virtual RCM is based on the kinematic model of the robot and enables the setting of an arbitrary point on the forceps as the RCM point. Finally, the effectiveness of the proposed robot is verified through experimental evaluations on ex-vivo pig eyeballs.",

keywords = "cataract surgery, ex-vivo, serial-parallel hybrid robot, virtual remote of center",

author = "Yu Zheng and Chuang Lin and Yajing Pei and Zilu Chen and Chenhan Guang and Yang Yang and Ke Ma",

note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024 ; Conference date: 03-10-2024 Through 05-10-2024",

year = "2024",

doi = "10.1109/M2VIP62491.2024.10746136",

language = "英语",

booktitle = "2024 30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "美国",

edition = "2024",

}

Zheng, Y, Lin, C, Pei, Y, Chen, Z, Guang, C, Yang, Y & Ma, K 2024, Design and Preliminary Evaluation of a Serial-Parallel Hybrid Robot for Cataract Surgery. 在 2024 30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024. 2024 版本, Institute of Electrical and Electronics Engineers Inc., 30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024, Leeds, 英国, 3/10/24. https://doi.org/10.1109/M2VIP62491.2024.10746136

Design and Preliminary Evaluation of a Serial-Parallel Hybrid Robot for Cataract Surgery. / Zheng, Yu; Lin, Chuang; Pei, Yajing 等.
2024 30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024. 2024. 编辑 Institute of Electrical and Electronics Engineers Inc., 2024.

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Design and Preliminary Evaluation of a Serial-Parallel Hybrid Robot for Cataract Surgery

AU - Zheng, Yu

AU - Lin, Chuang

AU - Pei, Yajing

AU - Chen, Zilu

AU - Guang, Chenhan

AU - Yang, Yang

AU - Ma, Ke

PY - 2024

Y1 - 2024

N2 - Continuous curvilinear capsulorhexis (CCC) is a delicate operation that may benefit from robot technology. This paper introduces a new hybrid cataract surgery robot that consists of four parallel prismatic pairs connected in series to a "Rotation-Prismatic"unit. Additionally, the paper proposes a master-slave control strategy and a virtual remote center of motion (RCM) algorithm. The virtual RCM is based on the kinematic model of the robot and enables the setting of an arbitrary point on the forceps as the RCM point. Finally, the effectiveness of the proposed robot is verified through experimental evaluations on ex-vivo pig eyeballs.

AB - Continuous curvilinear capsulorhexis (CCC) is a delicate operation that may benefit from robot technology. This paper introduces a new hybrid cataract surgery robot that consists of four parallel prismatic pairs connected in series to a "Rotation-Prismatic"unit. Additionally, the paper proposes a master-slave control strategy and a virtual remote center of motion (RCM) algorithm. The virtual RCM is based on the kinematic model of the robot and enables the setting of an arbitrary point on the forceps as the RCM point. Finally, the effectiveness of the proposed robot is verified through experimental evaluations on ex-vivo pig eyeballs.

KW - cataract surgery

KW - ex-vivo

KW - serial-parallel hybrid robot

KW - virtual remote of center

UR - https://www.scopus.com/pages/publications/85214361284

U2 - 10.1109/M2VIP62491.2024.10746136

DO - 10.1109/M2VIP62491.2024.10746136

M3 - 会议稿件

AN - SCOPUS:85214361284

BT - 2024 30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

Y2 - 3 October 2024 through 5 October 2024

ER -

Design and Preliminary Evaluation of a Serial-Parallel Hybrid Robot for Cataract Surgery

摘要

会议

访问文件

其它文件与链接

学术指纹

引用此