EyeRobot

The Steady-Hand Eye Robot [26,27] developed for retinal microsurgery at Johns Hopkins University, a continuation of the Steady-Hand robot project [28], is a hands-on compliant tool that adopts the concept of shared control. Although the device is directly manipulated by the surgeon s hand, it filters hand tremors and tweaks the motion of the tool tip based on the surgeon s hand forces and those of the tool—tissue interaction. So far, three iterations of the device have been developed EyeRobot 1, EyeRobot 2, and EyeRobot 2.1. EyeRobot 1 is a 5-DOF tool with an active computer-controlled RCM. EyeRobot 2 is an improved revision of EyeRobot 1 with a mechanical RCM. EyeRobot 2.1 (Figure 5.3) has an improved symmetric mechanical RCM that makes the device suitable for dual-arm teleoperation as well. 

Figure 5.3 EyeRobot 2.0 (right) and EyeRobot 2.1 (left) in tele-operation mode. (Used with the permission of the Laboratory for Computational Sensing and Robotics, Johns Hopkins University.)...

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