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To enhance the effect of robotic microsurgery, the microsensors are integrated on the robot’s end-effector. On the basis of the requirements presented for the integration design, measuring mechanism for the robotic end trephine’s force and cutting depth are studied. Force microsensor and position microsensor are used to measure surgical information of the force and depth. Measuring mechanism was achieved...
The robotic system is developed to improve the effect of microsurgery for keratoplasty. The autonomous suturing should be qualified for the operational requirements of microsurgical keratoplasty. Poorly modeled mechanism of robotic micromanipulator and slight movements of surgical objective point are hindrance for precise position and orientation of end-needle. Visual servo control is available to...
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