pp. 1041-1050
S&M2158 Research Paper of Special Issue https://doi.org/10.18494/SAM.2020.2668 Published: March 19, 2020 Soft-material Robot for Ophthalmologic Surgery [PDF] Takahiro Kanno, Tomonori Kawakami, Minae Kawasaki, Tomoya Furujo, Hiroshi Iida, Tetsuro Miyazaki, Toshihiro Kawase, Kenji Kawashima, and Norihiko Ito (Received October 29, 2019; Accepted February 4, 2020) Keywords: surgical robot, soft robotics, pneumatic system, ophthalmology, pressure control
In this paper, a single-degree-of-freedom robot for assisting ophthalmologic surgery is
proposed. A soft linear actuator drives the robot, and a needle attached to the tip punctures the
cornea. The soft actuator has low friction and generates less stick slip, and there is no backlash
since it does not require reduction gears. It can be controlled more precisely than conventional
robots using electric motors or pneumatic cylinders. We conducted a cornea penetration
experiment and measured the changes in intraocular pressure during intraocular injection using
the proposed device.
Corresponding author: Takahiro KannoThis work is licensed under a Creative Commons Attribution 4.0 International License. Cite this article Takahiro Kanno, Tomonori Kawakami, Minae Kawasaki, Tomoya Furujo, Hiroshi Iida, Tetsuro Miyazaki, Toshihiro Kawase, Kenji Kawashima, and Norihiko Ito, Soft-material Robot for Ophthalmologic Surgery, Sens. Mater., Vol. 32, No. 3, 2020, p. 1041-1050. |