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Design and Force-feedback Control of a Robotic Platform for Autonomous Eye Injections
The objective of this project is to advance an existing robotic platform capable of autonomously delivering injections into the human eye. Rather than starting from scratch, the student will build on significant prior research. The primary task is to implement a force-feedback control algorithm that acts as the system’s safety mechanism. Specifically, the student will develop an admittance control algorithm, enabling the robot to adapt to unexpected disturbances by using real-time data from a 6D eye-tracking device and a force sensor.
Intravitreal therapy involves administering medication directly into the eye to treat chronic ophthalmic conditions. This routine procedure typically requires frequent, time-consuming clinic visits. To improve patient experience and streamline the treatment process, the Multiscale Robotics Lab is developing a robotic system that automates intraocular drug delivery. This system leverages advanced robotics to accommodate the eye’s rapid movements and to ensure safe, direct contact between the robotic actuator and ocular tissues.
Intravitreal therapy involves administering medication directly into the eye to treat chronic ophthalmic conditions. This routine procedure typically requires frequent, time-consuming clinic visits. To improve patient experience and streamline the treatment process, the Multiscale Robotics Lab is developing a robotic system that automates intraocular drug delivery. This system leverages advanced robotics to accommodate the eye’s rapid movements and to ensure safe, direct contact between the robotic actuator and ocular tissues.
The objective of this project is to advance an existing robotic platform capable of autonomously delivering injections into the human eye. Rather than starting from scratch, the student will build on significant prior research. The primary task is to implement a force-feedback control algorithm that acts as the system’s safety mechanism. Specifically, the student will develop an admittance control algorithm, enabling the robot to adapt to unexpected disturbances by using real-time data from a 6D eye-tracking device and a force sensor.
The second phase of the project focuses on industrial design, ensuring the system is both visually appealing and suitable for clinical use. This phase includes partnering with external manufacturers for casting and production, resulting in a polished, user-friendly device for medical professionals.
The objective of this project is to advance an existing robotic platform capable of autonomously delivering injections into the human eye. Rather than starting from scratch, the student will build on significant prior research. The primary task is to implement a force-feedback control algorithm that acts as the system’s safety mechanism. Specifically, the student will develop an admittance control algorithm, enabling the robot to adapt to unexpected disturbances by using real-time data from a 6D eye-tracking device and a force sensor. The second phase of the project focuses on industrial design, ensuring the system is both visually appealing and suitable for clinical use. This phase includes partnering with external manufacturers for casting and production, resulting in a polished, user-friendly device for medical professionals.
Please send your transcripts and CV + (optional) project portfolio to:
zjasan@ethz.ch
cehmke@ethz.ch
Please send your transcripts and CV + (optional) project portfolio to: zjasan@ethz.ch
