Design, Static and Performance Analysis of a Parallel Robot for Head Stabilisation in Vitreoretinal Surgery

Hans Natalius, Manish K. Tiwari

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

2 Citations (Scopus)
74 Downloads (Pure)

Abstract

This paper explores the requirements-based design and static analysis of a 6 Degree-of-Freedom parallel robotic headrest, of novel architecture, to counter head motion in vitreoretinal surgery. Upcoming therapy delivery interventions require micro-precision but should ideally take place under local anaesthesia. Therefore, breathing, spasmodic motions, and even snoring that often occurs need to be accounted for and if possible counteracted. Passive approaches that aim to constrain the patient’s head have not yet been fruitful, while invasive stereotactic fixation is naturally not an option. The proposed design respects ergonomic and surgical constraints to act as a headrest that will ultimately counteract patient motion. Static models are developed to understand the architecture’s characteristics, and performance metrics are devised for design evaluation. Finally, a prototype is presented.

Original languageEnglish
Title of host publicationMechanisms and Machine Science
Pages169-179
Number of pages11
Volume93
DOIs
Publication statusPublished - 2021

Publication series

NameMechanisms and Machine Science
Volume93
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Keywords

  • Kinematics
  • Parallel robot
  • Surgical robot

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