Design and theoretical evaluation of micro-surgical manipulators for orbital manipulation and intraocular dexterity

Wei Wei, Roger Goldman, Nabil Simaan, Howard Fine, Stanley Chang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

58 Scopus citations

Abstract

This paper addresses the design considerations and dexterity evaluation of a novel hybrid two-armed micro-surgical slave robot equipped with intraocular dexterity devices. A unified framework for the kinematic modeling of this robot is presented while using the kinematic constraints stemming from the constrained motion of the eye. An augmented Jacobian describing the kinematics of the eye and the relative motion of each one of the two Intra-Ocular Dexterity Robots (IODR) is presented. Using this framework, the capabilities of this two-armed robot in performing dexterous intraocular operations are evaluated and compared to a similar robot without intra-ocular dexterity. The Kinematic Conditioning Index (KCI) for the proposed robot is shown to be significant. The results presented show an increase of approximately 33% and 47% in translational and rotational KCI respectively.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages3389-3395
Number of pages7
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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