title: Design and development of miniature parallel robot for eye surgery.
abstract: A five degree-of-freedom (DOF) miniature parallel robot has been developed to precisely and safely remove the thin internal limiting membrane in the eye ground during vitreoretinal surgery. A simulator has been developed to determine the design parameters of this robot. The developed robot's size is 85 mm × 100 mm × 240 mm, and its weight is 770 g. This robot incorporates an emergency instrument retraction function to quickly remove the instrument from the eye in case of sudden intraoperative complications such as bleeding. Experiments were conducted to evaluate the robot's performance in the master-slave configuration, and the results demonstrated that it had a tracing accuracy of 40.0 μm.
authors.forename: Tomoya
authors.initials: T
authors.lastname: Sakai
authors.forename: Kanako
authors.initials: K
authors.lastname: Harada
authors.forename: Shinichi
authors.initials: S
authors.lastname: Tanaka
authors.forename: Takashi
authors.initials: T
authors.lastname: Ueta
authors.forename: Yasuo
authors.initials: Y
authors.lastname: Noda
authors.forename: Naohiko
authors.initials: N
authors.lastname: Sugita
authors.forename: Mamoru
authors.initials: M
authors.lastname: Mitsuishi
mesh_terms: D003198:Computer Simulation; D004867:Equipment Design; D006801:Humans; D008904:Miniaturization / Q000295:instrumentation*; D008962:Models, Theoretical; D013508:Ophthalmologic Surgical Procedures / Q000295:instrumentation*; D012160:Retina / Q000601:surgery; D065287:Robotic Surgical Procedures / Q000295:instrumentation*