Data · dataset · 2026
Design and preliminary development of a conceptual robot mechanism for eye surgery
Listed in ZivaHub and Deakin Research Online and DMU Figshare — shown once because both records carry DOI 10.17034/32634882.v1
Millions of patients suffering from eye disease cannot receive timely treatment due to alack of qualified surgeons.
Description
Medical robots which have the potential to solve this problem are attracting significant attention in the research community. Minimally invasive surgery (MIS) is a popular surgical technique because of the advantages of small scars, little blood loss and pain, low risk of infection, short hospitalisation, and rapid recovery.
However, successful MIS robots are scarce, and more research is required to develop low-cost surgical robots. This thesis designs and preliminarily develops a conceptual MIS robot mechanism as the slave robot of a master-slave robotic system for eye surgery with high accuracy and precision, high stiffness, good dexterity, small size, and low cost. Through thorough analysis of manual operations and interviews with surgeons, the design requirements are defined.
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Based on these requirements, a new parallel remote centre of motion (RCM) mechanism is created to achieve 7-degree-of-freedom(DOF) motions. Kinematic design of the new RCM mechanism is conducted. Using this new RCM mechanism, a detailed design of the robot is carried out and a prototype is built.
The robot control strategy is developed, and the procedure for robot-assisted surgical operation using the constructed prototype is planned.<br><br>Experiments are conducted using the prototype to validate the robot design and evaluate the robot performance. Results show that the robot can meet the 7-DOF motion range requirements and stiffness requirements, though the accuracy still needs further improvements. A self-critique is conducted to identify the limitations, and possible solutions to address these limitations are presented.
To improve the accuracy and precision and reduce the weight, three new design concepts are proposed. Future research directions include improvement in accuracy and precision and development of the master-slave robotic system.<br><br><i>Thesis is embargoed is 31 July 2028</i>.<br><br>
Links
Where it is published
- DOI doi.org/10.17034/32634882.v1 ↗
DOI / persistent id · from zivahub uct ac za
Catalogue records · 1
- OAI-PMH record api.figshare.com/v2/oai?verb=GetRecord&metadataPrefix=oai_dc&identifier=oai%3Af… ↗
metadata API · from zivahub uct ac za
Topics
- From keywords
- Earth & Environmental Science · Earth & Environmental Science · Earth & Environmental Science
- Inferred from text
- Disease 75%
Provenance · 3 source records, 9 field assertions
| Source | Key | Last seen | Raw |
|---|---|---|---|
| ZivaHub | oai:figshare.com:article/32634882 | 13 d ago | JSON v1 |
| Deakin Research Online | oai:figshare.com:article/32634882 | 13 d ago | JSON v1 |
| DMU Figshare | oai:figshare.com:article/32634882 | 12 d ago | JSON v1 |
| Field | Assertion | Extractor | Evidence |
|---|---|---|---|
| access_level | source · zivahub uct ac za | connector:zivahub_uct_ac_za@1.0.0 | |
| concepts[disease].local:disease:disease | enrichment · zivahub uct ac za | keyword-concept-rules@1.0.0 | title+description (75%) |
| concepts[field].local:field:earth-environmental | mapping · zivahub uct ac za | connector:zivahub_uct_ac_za@1.0.0 | |
| concepts[field].local:field:earth-environmental | mapping · dro deakin edu au | connector:dro_deakin_edu_au@1.0.0 | |
| concepts[field].local:field:earth-environmental | mapping · figshare dmu ac uk | connector:figshare_dmu_ac_uk@1.0.0 | |
| description | source · zivahub uct ac za | connector:zivahub_uct_ac_za@1.0.0 | /metadata/dc/description |
| license_text | source · zivahub uct ac za | connector:zivahub_uct_ac_za@1.0.0 | |
| publication_date | source · zivahub uct ac za | connector:zivahub_uct_ac_za@1.0.0 | |
| title | source · zivahub uct ac za | connector:zivahub_uct_ac_za@1.0.0 | /metadata/dc/title |