A 5-DOFs Robot for Posterior Segment Eye Microsurgery

Drug delivery for posterior segment eye disease.

In recent years, significant advances have been made in optimizing the delivery of drugs to target tissues within the eye and in maintaining effective drug doses within those tissues. Most pharmacologic management of ocular disease, however, continues to use the topical application of solutions to the surface of the eye as drops. Factors that can limit the usefulness of topical drug application...

review of intravitreal implants for extended drug delivery to the posterior segment of the eye

intravitreal injection is the most common approach for drug delivery to the posterior segment in humans. however, following the injection, drugs are rapidly eliminated from the vitreous, with half-lives up to a few days. depending on the rate of clearance from the vitreous, large boluses and frequent administrations may be required to ensure therapeutic levels over an extended period of time. m...

A unifying framework for robot control with redundant DOFs

Recently, (Udwadia, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss’ principle of least constraint. This method allows reformulating control problems as a special class of optimal controllers. In this paper, we take this line of reasoning one step further and demonstrate that several well-known and al...

Dynamic Simulation of a Humanoid Robot with Four DOFs Torso

| In this paper, we present the 3D dynamic simulation of walking gait of biped Robian II virtual manikin (25 kg weight, 1.10 m height). The biped has 16 degrees of freedom (dofs). Initially, a bio-mimetic approach is used to model a humanoid biped having 25 dofs based on common European male (75 kg, 1.78 m). Using, human being motion recording, foot/ground contact model and inverse kinematics, ...

Delivery of therapeutics to posterior eye segment: cell-encapsulating systems