OPHTHALMIC MICROSURGICAL ROBOT AND ASSOCIATED VIRTUAL ENVIRONMENT

An ophthalmic virtual environment has been developed as part of a tele operated microsurgical robot built to perform surgery on the eye. The virtual environment is unique in that it incorporates a detailed conti nuum model of the anatomical structures of the eye, its mechanics and optical properties, together with a less detailed geometric-mechanical model of the face. In addition to providing a realistic visual displa y of the eye being operated on, the virtual environment simulates tiss ue properties during manipulation and cutting and the forces involved are determined by solving a mechanical finite element model of the tis sue. These forces are then fed back to the operator via a force reflec ting master and so the surgeon can experience both the visual and mech anical sensations associated with performing surgery. The virtual envi ronment can be used to enhance the images produced by the camera on th e microsurgical slave robot during surgery and as a surgical simulator in which it replaces these images with computer graphics generated fr om the eye model.