There are many techniques of cataract extraction and many types of cataract knives have been devised to facilitate an ideal section. Ultrasharp diamond knives were introduced by Durham and Luntz (I968). Sharpness is essential whether the von Graefe knife, the keratome, or corneal scissors are used, and for this reason disposable cataract knives, keratomes, and Bard Parker blades are widely used.This article describes the use of an ordinary razor blade (preferably non-stainless); this is not only very sharp and easy to sterilize, but is cheap enough to be disposable, and readily available throughout the world. Two separate sections can be cut with each half of the blade.Surgical procedure ANAESTHESIA Local anaesthesia, using deep sedation, is suitable for most cases.Upper and lower lid sutures, and a superior rectus bridle suture, are inserted, and the usual limbalbased conjunctival flap is made and cleaned, as far as the sclero-corneal junction, with a pair of conjunctival scissors. Minute bleeding points can be arrested by a thermocautery or the tip of a squint hook heated over a spirit lamp. TECHNIQUEThe section is made solely with a fragment of razor blade held in a special holder or in a pair of finetoothed mosquito forceps.To make the razor blade fragment, the blade is first broken in half, and a triangular piece with a fine point and one sharp edge is broken off from one half of the blade as shown in Fig. I.First a fine groove is made with the sharp edge of the blade just beyond the sclero-corneal junction from 9 to 3 o'clock marking the line of the section. Then at the 12 o'clock position, a cut is made right through into the anterior chamber with the sharp edge of the blade. Next, the tip of the blade is inserted into the anterior chamber through the already cut wound by placing the sharp edge to one side. Then, by a gentle to-and-fro movement on that side, the cornea is sliced off up to the end of the groove previously marked. The sharp edge of the blade is turned towards the other side, and starting from the 12 o'clock position again, the procedure is repeated to complete the section in the other direction to the end of the already marked groove. The section is thus completed throughout with the razor blade fragment.The sutures are inserted, iridectomy is performed, and the cataract is extracted (Fig. 2). If the surgeon prefers to put pre-placed sutures, they can be placed at io and 2 o'clock after the preliminarv groove is made, and between the two lips. Each suture is pulled well apart into a loop with the help of a lens hook and made safe from accidental cutting whi!e the section is being cut.
Single Incision Laparoscopic Surgery (SILS) is a fast-growing method in the field of MIS (Minimally Invasive Surgery) that has the potential to represent the future of laparoscopic surgeries. The major benefits of SILS results from a single incision which makes surgeries essentially scar-less, and it can reduce wound infection substantially as well as recuperation time. Many new researches are now focusing on developing cutting edge technologies to support SILS; however, the practical applications of SILS are constrained by a number of intricacies such as space limitation, absence of dexterous multitasking tools, lack of sufficient actuation force and poor visualization. Deployment and retraction of surgical tools or robots are done manually in the absence of a multitasking tool manipulator which increases the surgery time, risk of injury and surgeon’s fatigue. Our research focuses on designing a novel operative hardware (multitasking manipulator) to facilitate the SILS technique with automatic tool changing capability. A wire driven mechanism has been implemented in the design to minimize the damage to the electronic hardware during sterilization since the electronic actuation and sensing components are located remotely from the end-effector which requires heat or chemical sterilization before surgery. And a wire-driven articulated robotic arm has also been designed to support the manipulator. The details of the robotic design and analysis are conducted in the paper. The feasibility of this robotic method has been demonstrated by experiments.
Unmanned Aerial Vehicles (UAVs), often referred as drones, have been widely implemented for civilian, commercial, search and rescue, and military operations with the advantages of easy deployment, low cost, automation, as well as, most importantly, allowing the execution of dangerous or difficult tasks remotely and safely. However, current UAVs are equipped with a skid or wheel landing gear that limits the application of UAVs to an even and flat ground for safe landing and taking off; this constraint impedes the development of UAVs for application in extreme environments, such as war fields and remote wilderness where proximate level ground is inaccessible. The ability of UAVs to land on un-level ground would help broaden the application of UAVs; in particular, the ability to go beyond thermal imaging to locate a lost hiker with the ability to land and deliver life-sustaining resources in a more timely manner offers a benefit to human rescue missions. This paper presents an innovative robotic landing system consisting of three slanted legs, each individually controlled by a motor. The footpad of each leg has an integrated force sensor for detecting ground touch. An inclinometer is installed on the platform of the landing system to sense the UAVs orientation during landing. Thus, the landing system can keep the platform horizontal when it lands on the ground by extending or retracting the legs. The feasibility and effectiveness of the robotic method have been demonstrated by several indoor and outdoor experiments.
Robots for surgery and rehabilitation have emerged and are gaining popularity among patients and medical doctors with their obvious benefits, such as overcoming obstacles from human users’ physical restraints, reducing physicians’ workload, and enhancing the efficacy of medical treatment. The development of medical robots meets two challenges related to their special application environments, including sterilization hazards and size/weight limitation. Medical robots (e.g., surgical robots) usually need to have close contact with human skin or organs, which need to be sterilized. However, chemical or heat sterilization on the robots poses an inevitable risk of damage on the motors, sensors, and other electronic components. The size of the surgical robot needs to be compact to gain access to surgical sites. The rehabilitation robots that patients wear have to limit their size and weight. Wire-driven actuation is a potential solution to solve these issues by avoiding the use of bulky mechanical gears and links and locating the electronic components far away from the sterilization environment. This paper presents the development of a novel wire-driven universal joint for medical robot design. With its special structure, this robotic joint has self-decoupled kinematics which can simplify its control system and increase motion accuracy. Benchtop experiments are conducted to verify the functionality of this joint and the effectiveness of its self-decoupled kinematics.
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