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Updated: Nov 17, 2025
Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
A novel microsurgery robot mechanism with mechanical motion scalability for intraocular and reconstructive surgery
Un-Je Yang1,2, Duksang Kim1,2, Minho Hwang3
1Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
Background:
Intraocular surgery and reconstructive surgery are challenging microsurgery procedures that require two types of motion: precise motion and larger motion. To effectively perform the requisite motion using a robot, it is necessary to develop a manipulator that can adjust the scale of motion between precise motion and less precise, yet larger motion.
Aims:
In this paper, we propose a novel microsurgery robot using the dual delta structure (DDS) to mechanically scale the motion to seamlessly adjust between precise and larger motion. MATERIALS & METHODS: The DDS forms a lever mechanism that enables the motion scaling at the end-effector using two delta platforms. Seamless scale adjustment enables the robot to effectively perform various surgical moves.
Results:
A prototype robot system was developed to validate the effectiveness of the DDS. The experiment results in various scale settings validated the scaling mechanism of the DDS.
Conclusion:
Through a graphical simulation and measurement experiment, the robot's precision level and attainable workspace has been confirmed adequate for intraocular and reconstructive surgery.
