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- Title
Soft-material Robot for Ophthalmologic Surgery.
- Authors
Takahiro Kanno; Tomonori Kawakami; Minae Kawasaki; Tomoya Furujo; Hiroshi Iida; Tetsuro Miyazaki; Toshihiro Kawase; Kenji Kawashima; Norihiko Ito
- Abstract
In this paper, a single-degree-of-freedom robot for assisting ophthalmologic surgery is proposed. A soft linear actuator drives the robot, and a needle attached to the tip punctures the cornea. The soft actuator has low friction and generates less stick slip, and there is no backlash since it does not require reduction gears. It can be controlled more precisely than conventional robots using electric motors or pneumatic cylinders. We conducted a cornea penetration experiment and measured the changes in intraocular pressure during intraocular injection using the proposed device.
- Subjects
INTRAOCULAR pressure; AIR cylinders; ELECTRIC motors; SURGICAL robots; CORNEA; SOFT robotics
- Publication
Sensors & Materials, 2020, Vol 32, Issue 3, Part 2, p1041
- ISSN
0914-4935
- Publication type
Article
- DOI
10.18494/SAM.2020.2668