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A Mechanical Evaluation of a Robot-Assisted Cutting Cornea Based on Force Response
Qinran Zhang1, Jingyu Zhao1, Sikai Wang1
1School of Electromechanical Engineering, Beijing Information Science and Technology University, Beijing 100192, China.
Micromachines
|August 26, 2023
Summary
This study introduces robotic trephination for corneal surgery, establishing operational laws for more stable and precise keratoplasty. Robot-assisted surgery offers improved microsurgical outcomes compared to manual methods.
Area of Science:
- Biomedical Engineering
- Robotics in Surgery
- Ophthalmology
Background:
- Keratoplasty, a corneal transplant surgery, requires precise incisions.
- Manual trepanation can exhibit variability and force fluctuations.
- Robot-assisted systems offer potential for enhanced surgical precision.
Purpose of the Study:
- To propose laws for robot-assisted trephine operation in corneal surgery.
- To achieve improved microsurgical effects for keratoplasty.
- To analyze the biomechanical response of corneal cutting under robotic control.
Main Methods:
- Development of a trephine robot integrated with a microforce sensor.
- Performance of robotic and manual trephination experiments on porcine corneas.
- Analysis of operational parameters: linear velocity, rotating angle, and angular velocity.
Main Results:
- Manual trephination showed random parameters and significant force fluctuations.
- Robotic trephination demonstrated regular biomechanical trends across different parameters.
- Robot-assisted cutting was more stable than manual trephination.
Conclusions:
- Established operational laws for robotic trephination based on biomechanical trends.
- Identified optimal initial parameters for improved trephine effects.
- Robot-assisted systems can enhance microsurgical outcomes in keratoplasty with proper parameter setting and surgeon training.
