Development of remote centre of motion (RCM) robotic manipulator for eye surgery

Abstract

Vitreoretinal eye surgery is one of the surgical procedures that require high precision and accuracy in terms of tool placement and orientation. Due to the need to insert a surgical tool into the eyeball through an insertion point in the eye (trocar), a special mechanism to assists ophthalmologists in constraining the surgical instrument so that it does not divert away from the trocar need to be taken into further research. In this study, a Remote Centre of Motion (RCM) mechanism will be designed and developed so that it could provide the ability to maneuver surgical tool tip inside the eye without affecting the trocar. The robotic manipulator will also be able to lock itself in place when there is no movement exerted into the mechanism. The capability of the robotic manipulator will be demonstrated in the experiment where it will be able to reach several targets inside a small container through a small hole on the container lid.