On the use of general-purpose serial-link manipulators in eye surgery

Yushiro Tomiki, Murilo M. Marinho, Yusuke Kurose, Kanako Harada, Mamoru Mitsuishi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Vitreo-retinal surgery is known to be very challenging because of the minuscule structures of the retina, which are smaller than the hand tremor amplitude of ∼100 μm. In this work, the use of a serial-link general-purpose manipulator in eye surgery to increase the accuracy was assessed. The proposed system showed a 3-sigma accuracy of 22 ± 36 μm when tracing a 1 mm square with an ophthalmic micropipette. The 3-sigma remote center of motion error was 0.14±0.23 mm when tracing a 7 mm square.

Original languageEnglish
Title of host publication2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
PublisherIEEE
Pages540-541
Number of pages2
ISBN (Electronic)9781509030552
DOIs
Publication statusPublished - 25 Jul 2017
Event14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 - Jeju, Korea, Republic of
Duration: 28 Jun 20171 Jul 2017

Publication series

Name2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

Conference

Conference14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Country/TerritoryKorea, Republic of
CityJeju
Period28/06/171/07/17

Keywords

  • Eye surgery
  • master-slave control

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