辅助角膜移植显微手术机器人系统的实验性应用研究

Objective To design the robotic mechanism of the cornea grafting micro-surgery system and evaluate its experimental feasibility and efficacy. Methods It was an experimental study. Based on computer assisted cornea grafting surgery ( CACGS), the prototype about cornea grafting robot, which consists of six subsystems, was developed. The system was used for looping incision and suturing for 20 rabbit corneas. Experimental data were studied including the error of target incision position, the actual cutting depth and the cutting edge span in order to evaluate the system's clinical value. All above statistical descriptions were performed using SPSS software version 11.5. Results 20 corneas were looping incised and sutured by the robot-assisted cornea grafting micro-surgery system successfully. The error of target incision position was (0.356±0.040)mm. With CACGS, the cutting edge span (A) was (0.855±0.040) and the actual cutting depth error was less than 10 p,m. Corneal structure and thickness was showed no change and cutting edge of cornea was displayed regularity in pathological examination. To suturing system, suturing span was (2.15 ± 0.09 )mm and the error of span (0.15 ± 0.02 )mm. Conclusions The cornea grafting micro-surgery system developed is used for cornea grafting of some animals successfully. The experiment results demonstrate the stability and efficiency of the robot.

Operation of cornea grafting micro-surgery robot system