東華大學圖書館 |

Design and implementation of high-precision hybrid robotic systems with application for ophthalmic micro-surgery.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Design and implementation of high-precision hybrid robotic systems with application for ophthalmic micro-surgery./
Author:	Wei, Wei.
Description:	1 online resource (160 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 72-06, Section: B.
Contained By:	Dissertations Abstracts International72-06B.
Subject:	Mechanical engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3420730click for full text (PQDT)
ISBN:	9781124174433

Design and implementation of high-precision hybrid robotic systems with application for ophthalmic micro-surgery.
Wei, Wei.

Design and implementation of high-precision hybrid robotic systems with application for ophthalmic micro-surgery. - 1 online resource (160 pages)

Source: Dissertations Abstracts International, Volume: 72-06, Section: B.

Thesis (Ph.D.)--Columbia University, 2010.

Includes bibliographical references

Recent development of robot technology is revolutionizing the medical field. The concept of using robot assistance in medical surgery has been receiving more and more recognition throughout the world. Robot-assisted surgery has the advantage of reducing surgeons' hand tremor, decreasing post-operative complications, reducing patients' pains, and increasing operation dexterity inside the patients' body. Robotic assistants have been broadly used in many medical fields such as orthopedics, neurology, urology and cardiology, and robot- assisted surgery is keeping expanding its influences in more general medical field. This doctoral study aims at utilizing advanced robotics technologies to help ophthalmic surgeons perform delicate procedures associated with ophthalmic surgery. Due to its stringent precision requirement and limited operation space, ophthalmic surgery constitutes one of the most demanding surgical fields. It requires high-precision dexterous operations inside the eye cavity and well-coordinated manipulations of the eyeball. This dissertation proposes a 16 Degrees-of-Freedom (DoF) dual-arm high-precision robotic system that addresses these surgical challenges. Each arm of the proposed dual-arm robotic system includes a 6-DoF Stewart parallel robot as a positioning stage and a 2-DoF intra-ocular dexterity robot (IODR) for dexterous manipulations inside the eye. This robotic system is designed to mimic the real operation feelings of surgeons and has the potential of enabling junior surgeons to perform complicated ophthalmic procedures after basic training. The proposed dual-arm robotic system operating inside the eyeball forms a novel kinematic model with insertion constraints. As expanded to a more general case of multiple robotic arms holding and operating inside a hollow suspended organ, this model differs from available references of multi-finger hands holding an object, and hence a novel kinematic modeling structure is presented for the system. In addition, due to the complexity of the hybrid robot structure, novel kinematic performance indices are proposed to quantitatively evaluate the robot's kinematic properties. These indices are used to evaluate the robot's performance while simulating four operations that represent typical ophthalmic surgical procedures. Simulation results show that the robotic system can significantly improve intra-ocular operation and orbital manipulation dexterities compared to traditional surgical tools. For the proposed application of assisting ophthalmic surgery, the positioning stage of the parallel robot needs to provide less than 5 microns precision. Due to joint backlash, general robot design cannot meet this specification. By taking a planar 3-DoF parallel robot as a case study, this dissertation further investigates backlash-free design of parallel robots and an algorithm of using torisional springs to preload the robot is proposed. This algorithm guarantees the robot to be backlash-free when its End Effector (EE) moves along a specified path and within a workspace while subject to a norm-bounded wrench. This dissertation also presents an investigation on the stiffness effects of adding preloads to the robot and defines novel stiffness performance indices that build on using the vertex velocities of three distinct points on the moving platform. Simulation and experiment results verify the correctness and effectiveness of the proposed algorithm. Finally, this dissertation investigates the modeling, control and force sensing of novel concentric tubing robots that are developed for enabling micro blood vessel stenting. Target ophthalmic surgical application of the proposed tubing robot is to treat retinal vein occlusions, a disease that leads to blindness and that currently has no effective treatments. This work uses polynomial approximation and linear interpolation to model the deflection of the tubing robot under external force loads. This model is exempt of iterative computations and is further applied to formulate the robot Jacobian which can be updated online for control purposes. Moreover, a force sensing algorithm based on this modeling framework is proposed by montoring the mechanical deflection of the flexible tubes. This work has the potential of enabling retinal vein stenting and provides ophthalmic surgeons force feedback during a surgery to guarantee secure operations.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2023

Mode of access: World Wide Web

ISBN: 9781124174433Subjects--Topical Terms:

649730
Mechanical engineering.
Subjects--Index Terms:

Degrees of freedomIndex Terms--Genre/Form:

542853
Electronic books.

Design and implementation of high-precision hybrid robotic systems with application for ophthalmic micro-surgery.
LDR:05896nmm a2200409K 4500 001 2358457
005 20230815054813.5
006 m o d
007 cr mn ---uuuuu
008 241011s2010 xx obm 000 0 eng d
020 $a 9781124174433
035 $a (MiAaPQ)AAI3420730
035 $a AAI3420730
040 $a MiAaPQ $b eng $c MiAaPQ $d NTU
100 1 $a Wei, Wei. $3 1281830
245 1 0 $a Design and implementation of high-precision hybrid robotic systems with application for ophthalmic micro-surgery.
264 0 $c 2010
300 $a 1 online resource (160 pages)
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
500 $a Source: Dissertations Abstracts International, Volume: 72-06, Section: B.
500 $a Publisher info.: Dissertation/Thesis.
500 $a Advisor: Simaan, Nabil.
502 $a Thesis (Ph.D.)--Columbia University, 2010.
504 $a Includes bibliographical references
520 $a Recent development of robot technology is revolutionizing the medical field. The concept of using robot assistance in medical surgery has been receiving more and more recognition throughout the world. Robot-assisted surgery has the advantage of reducing surgeons' hand tremor, decreasing post-operative complications, reducing patients' pains, and increasing operation dexterity inside the patients' body. Robotic assistants have been broadly used in many medical fields such as orthopedics, neurology, urology and cardiology, and robot- assisted surgery is keeping expanding its influences in more general medical field. This doctoral study aims at utilizing advanced robotics technologies to help ophthalmic surgeons perform delicate procedures associated with ophthalmic surgery. Due to its stringent precision requirement and limited operation space, ophthalmic surgery constitutes one of the most demanding surgical fields. It requires high-precision dexterous operations inside the eye cavity and well-coordinated manipulations of the eyeball. This dissertation proposes a 16 Degrees-of-Freedom (DoF) dual-arm high-precision robotic system that addresses these surgical challenges. Each arm of the proposed dual-arm robotic system includes a 6-DoF Stewart parallel robot as a positioning stage and a 2-DoF intra-ocular dexterity robot (IODR) for dexterous manipulations inside the eye. This robotic system is designed to mimic the real operation feelings of surgeons and has the potential of enabling junior surgeons to perform complicated ophthalmic procedures after basic training. The proposed dual-arm robotic system operating inside the eyeball forms a novel kinematic model with insertion constraints. As expanded to a more general case of multiple robotic arms holding and operating inside a hollow suspended organ, this model differs from available references of multi-finger hands holding an object, and hence a novel kinematic modeling structure is presented for the system. In addition, due to the complexity of the hybrid robot structure, novel kinematic performance indices are proposed to quantitatively evaluate the robot's kinematic properties. These indices are used to evaluate the robot's performance while simulating four operations that represent typical ophthalmic surgical procedures. Simulation results show that the robotic system can significantly improve intra-ocular operation and orbital manipulation dexterities compared to traditional surgical tools. For the proposed application of assisting ophthalmic surgery, the positioning stage of the parallel robot needs to provide less than 5 microns precision. Due to joint backlash, general robot design cannot meet this specification. By taking a planar 3-DoF parallel robot as a case study, this dissertation further investigates backlash-free design of parallel robots and an algorithm of using torisional springs to preload the robot is proposed. This algorithm guarantees the robot to be backlash-free when its End Effector (EE) moves along a specified path and within a workspace while subject to a norm-bounded wrench. This dissertation also presents an investigation on the stiffness effects of adding preloads to the robot and defines novel stiffness performance indices that build on using the vertex velocities of three distinct points on the moving platform. Simulation and experiment results verify the correctness and effectiveness of the proposed algorithm. Finally, this dissertation investigates the modeling, control and force sensing of novel concentric tubing robots that are developed for enabling micro blood vessel stenting. Target ophthalmic surgical application of the proposed tubing robot is to treat retinal vein occlusions, a disease that leads to blindness and that currently has no effective treatments. This work uses polynomial approximation and linear interpolation to model the deflection of the tubing robot under external force loads. This model is exempt of iterative computations and is further applied to formulate the robot Jacobian which can be updated online for control purposes. Moreover, a force sensing algorithm based on this modeling framework is proposed by montoring the mechanical deflection of the flexible tubes. This work has the potential of enabling retinal vein stenting and provides ophthalmic surgeons force feedback during a surgery to guarantee secure operations.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2023
538 $a Mode of access: World Wide Web
650 4 $a Mechanical engineering. $3 649730
650 4 $a Computer engineering. $3 621879
653 $a Degrees of freedom
653 $a Flexible beams
653 $a Hybrid robotic systems
653 $a Interactive computations
653 $a Medical robots
653 $a Ophthalmic microsurgery
655 7 $a Electronic books. $2 lcsh $3 542853
690 $a 0464
690 $a 0548
710 2 $a ProQuest Information and Learning Co. $3 783688
710 2 $a Columbia University. $3 571054
773 0 $t Dissertations Abstracts International $g 72-06B.
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3420730 $z click for full text (PQDT)