Abstract
It is presented the design specifications for a Retractor Robotic System (RRS) based on the surgical necessities in the incisions procedure for a dacryocystorhinostomy. The specifications are conformed by a mathematical model, the experimental data measured, a modular flexible architecture, energy supplier system, the mechanical group, and the safety system. The specifications suggest that the use of flexible polymeric materials for the RRS provide a mayor adaptability of the system with the biological tissue; so a pneumatic actuator could be a suitable option.
Highlights
A dacriocistorrynostomy (DCR) is an ocular surgery that removes the obstruction on the nasal lacrimal, allowing a normal draining to the nasal cavity trough a new drainage via [1,2]
The methodology is divided into three stages, the retraction points generating the technical criteria’s for the process; the geometrical behavior to have an homogeneous workspace area and the case study simplifying the mathematical model
With the considerations and parameters defined, the methodology continues the validation in order to find an experimental and theoretical validation of the opening retraction process
Summary
A dacriocistorrynostomy (DCR) is an ocular surgery that removes the obstruction on the nasal lacrimal, allowing a normal draining to the nasal cavity trough a new drainage via [1,2]. The DCR is the most common surgical technique in lacrimal blockage in cases of chronic dacryocystitis and nasolacrimal duct [1,2,3]. General Hospital of Mexico City estimates that, from 2000 to 2007, 222 dacricistitys cases were diagnosed, and 194 of those were treated by a type of DCR [4,5]. During a DCR, an incision between the ocular cavity and the nasal apparatus is performed [1,6,7]. Once the incision depth is achieved, it is open by the use of manual retractors until the lacrimal sac is founded [8,10]
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