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J.-P. Hubschman, J.-L. Bourges, J. T. Wilson, T.-C. Tsao, S. D. Schwartz; Evaluation Study of the Hexapod Surgical System. Invest. Ophthalmol. Vis. Sci. 2009;50(13):4450.
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To test the Hexapod Surgical System (HSS) coupled with a vitreous cutter for range of motion, precision, dexterity, stability and remote center efficiency.Introduction: Task automation and tele-operation offered by robotic assistance may benefit ocular surgery. Current surgical robotic systems need further improvement in precision, dexterity as well as a remote center positioned at the site of ocular penetration. We designed and tested the HSS, a 6 DoF Stewart platform prototype adapted to the da Vinci surgical robotic system and able to hold surgical instruments or devices.
The HSS was tested on a xyz graduated stage for translations (range and stability) and angulations. The remote center was numerically designed and assessed for stability. Precision and dexterity were tested by directing the probe to successively enter 5, 2 and 1 mm holes.
The prototype maximum translations were 10 cm in both X and Y planes and 5 cm in Z plane. The Vitreous cutter’s rotations were 15° (X plane) and 22° (Y plane). The precision was perfect in 16/30 tests (53%) and within 0.5 mm of the target in 26/30 tests (87%). The mean translational stability and mean rotational stability at the tip of the probe were 1.2 mm (0.6 to 1.9 mm) and 1.0 mm (0 to 2.0 mm), respectively. Average times for the 5, 2 and 1 mm dexterity tests were 5.2 sec (from 4.4 to 6.5 sec), 7.1 sec (from 5.6 to 10.8 sec) and 12.3 sec (from 7.8 to 21.7 sec) respectively. The remote center was perfectly stable in the Y and Z planes and within 0.1 mm translation in the X plane.
The HSS provides a remote center for intra-ocular robotic surgery with high level of precision and dexterity. The robust design of HSS makes it suitable to hold and position heavy surgical devices during procedures.
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