A new 7-degree-of-freedom 2-PRRRRR parallel remote center-of-motion robot for eye surgery

Yinglun Jian*, Yan Jin, Mark Price, Johnny Moore

*Corresponding author for this work

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

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Abstract

Millions of patients suffering from eye disease cannot receive proper treatment due to the lack of qualified surgeons. Medical robots have the potential to solve this problem and consequently are attracting significant attention in the research community. This paper introduces a new 7-degree-of-freedom (DOF) 2-PRRRRR parallel robot with remote-center-of-motion for eye surgery. Mobility requirement, robot mechanism synthesis, kinematics, singularity, dimensional optimization for the prescribed workspace and highest dexterity, are presented, as well as detailed design and stiffness analysis. Results show the new robot has great potential for aiding the high precision eye surgical operations.
Original languageEnglish
Title of host publication2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Publisher IEEE
Pages891-896
Number of pages6
ISBN (Print)978-1-7281-5907-2
DOIs
Publication statusPublished - 29 Nov 2020
Event2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob): BIOROB2020 - Columbia University, New York, United States
Duration: 29 Nov 202001 Dec 2020
https://biorob2020nyc.org/

Publication series

Name 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
PublisherIEEE
ISSN (Electronic)2155-1782

Conference

Conference2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
CountryUnited States
CityNew York
Period29/11/202001/12/2020
Internet address

Keywords

  • surgery robot
  • parallel robot
  • remote center of motion
  • Kinematics

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