Robotic System for Microsurgical Keratoplasty

Robotic system is developed to improve the effect of microsurgery for keratoplasty. Based on task and motion analysis in the surgery, type synthesis and size synthesis of robotic mechanism are performed to meet the requirements of surgical tasks. Force and position microsensors are integrated on the end-effector of microsurgical robot. The two digital filtering methods suitable for the PC and the sensor data board respectively are presented. A feasible method of calibration and reconstruction for surgical microscope is adopted to implement the guidance of robotic vision. The estimated coefficients by linear regression are evaluated for preciseness and robustness. The experiment results show that the robotic system for microsurgical keratoplasty can fulfil the surgical task of corneal trephination precisely