To improve the time efficiency of current vitreoretinal surgical procedures and to enable new procedures demanding increased accuracy, a robotic system to assist in vitreoretinal procedures has been developed, extending human capabilities beyond current limitations. The robotic master–slave system is compact, lightweight and easy to set up. A combination of high-precision mechanical design and high-performance controller synthesis facilitates high accuracy down to 10 µm, tremor filtering, motion scaling, automated instrument changing an ergonomic body posture for the surgeon and haptic feedback. First functional tests with the demonstrator system show a short setup time, an intuitive usage and good ergonomics. With a knife and a pick, a successful peel of the inner shell membrane of the chorioallantoic membrane of a chicken egg has been achieved.
|Title of host publication||Medical robotics : minimally invasive surgery|
|Place of Publication||Cornwall|
|Number of pages||25|
|Publication status||Published - 2012|
|Name||Woodhead Publishing Series in Biomaterials|