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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

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Optimal Design of a Multipole-Electromagnet Robotic Platform for Ophthalmic Surgery.

Ruipeng Chen¹, David Folio¹, Antoine Ferreira¹

¹INSA Centre Val de Loire, 88 Boulevard Lahitolle, 18000 Bourges, France.

|January 21, 2023

Summary

OctoRob, a novel multipole-electromagnet robotic platform, offers a minimally invasive solution for targeted intraocular interventions. Its design optimizes magnetic fields and gradients for ophthalmic surgery applications.

Keywords:

electromagnetic actuation system microrobotic surgery platform microrobots ophthalmic surgery optimization of magnetic systems

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Area of Science:

Robotics
Biomedical Engineering
Ophthalmology

Background:

Current ophthalmic surgical techniques can be invasive.
Targeted therapeutic interventions within the eye require precise manipulation.
Existing robotic platforms may lack the necessary magnetic field control for intraocular procedures.

Purpose of the Study:

To design and develop OctoRob, a multipole-electromagnet robotic platform for minimally invasive ophthalmic interventions.
To optimize electromagnet configuration and robotic arm design for precise magnetic field and gradient generation.
To evaluate the magnetic performance of the OctoRob platform for ophthalmic applications.

Main Methods:

Designing a reconfigurable arrangement of electromagnets for ophthalmic use.
Modeling, designing, and implementing a one-degree-of-freedom robotic arm with an electromagnet.
Evaluating magnetic field and gradient generation capabilities at various tilted angles.

Main Results:

The OctoRob platform successfully generates appropriate magnetic fields and gradients.
The robotic arm design contributes to optimizing magnetic field control.
Performance evaluation demonstrated the platform's suitability for ophthalmic surgery.

Conclusions:

The OctoRob platform shows significant potential for advancing minimally invasive ophthalmic surgery.
The optimized magnetic field generation is crucial for targeted intraocular interventions.
Further application in ophthalmic procedures is warranted based on promising results.