| dc.description | The ocular organ is lubricated continuously by the lacrimal apparatus to avoid its deterioration, when the ducts of said apparatus are blocked it is necessary to correct it using medications or, in severe cases, surgically being the external
dacryocystorhinostomy (DCR). This procedure can be complicated for the ophthalmologist in the process of opening and manipulating incisions, needing the help of other specialists to manipulate them and with this delay in the time of performing the surgery. This problematic, determined through of experimental physical model, feedback design with the Use Satisfaction Survey (USS), can be solved through the use of a Retractor Robotic System (RRS) that helps surgeons during the process of opening the DCR.
Before developing an incision retractor system, the requirements of opening points, safety criteria and operating principles for the whole system (retractor and actuator) were specified. In this process it is important to consider the needs of the surgeon to be able to design, according to the requirements of the incision, the retractor robotic system.
The mathematical model, experimental data measured, and Robotic Retractor System are shown. The mathematical design is the theoretical model of opening incisions in the area of the anterior lacrimal crest, taking as reference the stress tensor which must be related to the deformation of the actuator, linked to an ellipse of Lamé. For the experimental part, metrology tests were performed on dead tissue with similar characteristics of humans in the area of the eye’s obverse muscle, with the purpose of determining the parameters of force, area, pressure
and resistance needed to design the RRS in the DCR. Finally, the RRS include a modular flexible architecture, energy supplier system, the mechanical group and the safety system. | |
