An Optimized Tilt Mechanism for a New Steady-Hand Eye Robot
Jiahao Wu,Gang Li,Muller Urias,Niravkumar A. Patel,Yun-hui Liu,Peter Gehlbach,Russell H. Taylor,Iulian Iordachita,Jiahao Wu,Gang Li,Muller Urias,Niravkumar A. Patel,Yun-hui Liu,Peter Gehlbach,Russell H. Taylor,Iulian Iordachita
Robot-assisted vitreoretinal surgery can filter surgeons' hand tremors and provide safe, accurate tool manipulation. In this paper, we report the design, optimization, and evaluation of a novel tilt mechanism for a new Steady-Hand Eye Robot (SHER). The new tilt mechanism features a four-bar linkage design and has a compact structure. Its kinematic configuration is optimized to minimize the require...
