SYNTHESIS OF ROBOTIC MECHANISM FOR MICROSURGICAL CORNEAL GRAFTING

摘要

In order to enhance the effect of corneal grafting, an assisting microsurgical robot has beendeveloped. As one of principal issues for the robotic system design, type and size synthesis of therobotic mechanism is discussed. For this purpose, timeline subtask is analyzed with surgicalcomponent motion in manual corneal grafting microsurgery, as the reference of robotic mechanismsynthesis. On the basis of study on the kinematic correlation between the arm structures and the wriststructures, configuration of joint is determined for the surgical task and motion in type synthesis of themechanism. The objective for size synthesis of robotic mechanism is optimization of the mechanismdexterity as a manipulation capability. The condition number based on Jacob matrix is chosen asdexterity measure of the mechanism. The prototype is developed.