“ARASH:ASiST” is the name of the Haptic system for eye surgery training. That is an abbreviation of “Aras Haptics: a system for eye surgery training”. “ARASH” also refers to Arash the Archer, a heroic archer-figure of Iranian mythology. ARASH:ASiST includes two similar devices specially designed to operate as a training system for minimally eye surgery. These similar devices operate as a dual haptic-surgery robot. In minimally invasive vitreoretinal eye surgery, unlike a general surgery, it requires 3 degrees of freedom to cover a spherical workspace. ARASH:ASiST operates as a mechanically remote center of motion (RCM) mechanism to provide the required spherical workspace for vitrectomy eye surgery and provide a safe environment for robotic surgery process. In minimally-invasive eye surgery, the surgical instrument enters the patient’s eye through a small incision and surgery process take place around this pivot point.
ARASH:ASiST takes advantage of parallelogram structure to produce a remote center of motion mechanism designed especially for minimally invasive vitreoretinal eye surgery. Designing a surgery robot requires a lot of attention to many aspects of designing procedure. Especially in vireo-retinal robotic eye surgery due to the augmented sensitivity in this vital tissue, challenges in the design procedure become manifold. ARASH:ASiST is a dual surgery-haptic device specially designed for vitrectomy eye surgery training. Integration of a surgery robot and a haptic device in one platform increase designing challenges significantly. A brief description of the parts of these challenges provided here.