角膜移植显微手术机器人系统的研究

在借鉴眼外科显微手术机器人系统研究经验基础上，对角膜移植显微手术机器人系统结构进行深入的研究，针对角膜移植手术的过程和特点，对角膜移植显微手术机器人系统的手术流程、交互方式进行了分析，提出了合理的机器人系统物理结构。研究了机构型式、末端手术工具、各子系统的关系，并开发了研制样机。切割实验表明，系统设计满足手术要求，可以准确完成手术动作。

Researches on Robotic Microsurgery System for Corneal Grafting

In order to enhance the effect of corneal grafting, the robotic microsurgery system qualified for the surgical treatment was studied and designed, using the experience of robotized ophthalmologic microsurgery for reference. On the basis of the corneal grafting's course and characteristics, the surgical technical process and interaction mode of the robotic microsurgery system for corneal grafting were analyzed. A rational structure of the robotic surgical system has been proposed. And a prototype was developed, with the consideration of mechanism type synthesis, surgical tools, relationship between subsystems. The cut experiment results have shown the robotic microsurgery system can fulfill the surgery task of corneal cutting accurately.