Design of a haptic master interface for robotically assisted vitreo-retinal eye surgery

摘要

Reduced dexterity and an unergonomic body\nposture are two of the shortcomings for the surgeon while\nperforming conventional minimally invasive surgery or vitreoretinal\neye surgery. With a master-µslave system these\ninconveniences during ophthalmic surgery can be overcome.\nTo gain insight in the requirements for the master device a\nmaster/slave setup with 1 degree of freedom and high\nresolution position and force measurement is realized. The\nfirst part of the paper is about the design of this setup. The\ndesign of a haptic interface as part of the master device, the\npreliminary results and future work are discussed in the\nsecond part of this paper.