It is difficult to achieve a stably delicate operation in manual microsurgery, and the aim of this paper is to evaluate the robotic trephination that can open a promising perspective for the development of robotic microsurgical system for keratoplasty. A robot for corneal trephination integrating a force/torque sensor is designed based on manual trephine action. The manual experiments and the robotic experiments about penetrating trephination are performed in porcine eyes. The expected values of operational parameters that are references to the robotic trephination are obtained from the manual experiments using probability density functions (PDFs), including linear velocity, angular velocity, and rotating angle. Considering the meanings of the forces/torques, the results of the manual and robotic experiments such as trephine forces/torques and photomicrographs are compared to evaluate the effectiveness of robotic trephination. The manual trephination shows some randomness and this leads to large fluctuations in the trephine forces/torques during the surgery, but the robot may improve overall outcome of the graft, as it is able to carry out the operation stably and produce a uniform cutting margin. There is potential to improve the biomechanical properties in the delicate microsurgery by using the trephine robot and such devices can assist the surgeon to achieve a consistently high-quality result.
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June 2016
Technical Briefs
Analysis and Evaluation of a Robotic Trephination in Penetrating Keratoplasty
Peng Su,
Peng Su
School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China
e-mail: andry@163.com
Beihang University,
Beijing 100191, China
e-mail: andry@163.com
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Shijing Deng,
Shijing Deng
Beijing Institute of Ophthalmology,
Beijing Tongren Eye Center,
Capital Medical University,
Beijing 100005, China
e-mail: dengsj26@163.com
Beijing Tongren Eye Center,
Capital Medical University,
Beijing 100005, China
e-mail: dengsj26@163.com
Search for other works by this author on:
Long Huang,
Long Huang
School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China
e-mail: huanlongiu@126.com
Beihang University,
Beijing 100191, China
e-mail: huanlongiu@126.com
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Yanming Song,
Yanming Song
School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China
e-mail: sym0823@163.com
Beihang University,
Beijing 100191, China
e-mail: sym0823@163.com
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Xiaoyu Liu,
Xiaoyu Liu
Key Laboratory for Biomechanics and Mechanobiology
of Ministry of Education,
School of Biological Science and Medical Engineering,
Beihang University,
Beijing 100191, China
e-mail: x.y.liu@buaa.edu.cn
of Ministry of Education,
School of Biological Science and Medical Engineering,
Beihang University,
Beijing 100191, China
e-mail: x.y.liu@buaa.edu.cn
Search for other works by this author on:
Yang Yang
Yang Yang
School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China
e-mail: yang_mech@126.com
Beihang University,
Beijing 100191, China
e-mail: yang_mech@126.com
Search for other works by this author on:
Peng Su
School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China
e-mail: andry@163.com
Beihang University,
Beijing 100191, China
e-mail: andry@163.com
Shijing Deng
Beijing Institute of Ophthalmology,
Beijing Tongren Eye Center,
Capital Medical University,
Beijing 100005, China
e-mail: dengsj26@163.com
Beijing Tongren Eye Center,
Capital Medical University,
Beijing 100005, China
e-mail: dengsj26@163.com
Long Huang
School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China
e-mail: huanlongiu@126.com
Beihang University,
Beijing 100191, China
e-mail: huanlongiu@126.com
Yanming Song
School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China
e-mail: sym0823@163.com
Beihang University,
Beijing 100191, China
e-mail: sym0823@163.com
Xiaoyu Liu
Key Laboratory for Biomechanics and Mechanobiology
of Ministry of Education,
School of Biological Science and Medical Engineering,
Beihang University,
Beijing 100191, China
e-mail: x.y.liu@buaa.edu.cn
of Ministry of Education,
School of Biological Science and Medical Engineering,
Beihang University,
Beijing 100191, China
e-mail: x.y.liu@buaa.edu.cn
Yang Yang
School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China
e-mail: yang_mech@126.com
Beihang University,
Beijing 100191, China
e-mail: yang_mech@126.com
1Corresponding author.
Manuscript received September 7, 2015; final manuscript received February 19, 2016; published online May 12, 2016. Assoc. Editor: Carl Nelson.
J. Med. Devices. Jun 2016, 10(2): 024503 (7 pages)
Published Online: May 12, 2016
Article history
Received:
September 7, 2015
Revised:
February 19, 2016
Citation
Su, P., Deng, S., Huang, L., Song, Y., Liu, X., and Yang, Y. (May 12, 2016). "Analysis and Evaluation of a Robotic Trephination in Penetrating Keratoplasty." ASME. J. Med. Devices. June 2016; 10(2): 024503. https://doi.org/10.1115/1.4032869
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