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Hybrid Parallel-Serial Tool Exchange Robot for Ophthalmic Precision Surgery: Mechanical Design
Yu-Hsiu Lee1, Yung-Chen Wu1, Yu-An Chen1
1Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan.
Background:
Robot-assisted ophthalmic surgery requires precise manipulation about a remote centre of motion (RCM). Conventional systems often employ mechanically fixed RCMs, limiting alignment flexibility, motion compensation, and tool exchange capability. This work presents HYPER-OPS, a hybrid parallel-serial ophthalmic robot featuring a software-controlled RCM and tool exchange capability.
Methods:
A compact six-degree-of-freedom manipulator was developed using a dual-layer five-bar linkage. The system features software-controlled RCM functionality and passive magnetic tool exchange. Kinematic, workspace and structural analyses were performed, followed by experimental validation.
Results:
The robot achieved the workspace required for ophthalmic procedures while enabling configurable RCM placement. Finite element analysis predicted a maximum deformation of 0.045 mm and a first natural frequency of 56 Hz. Experiments demonstrated RCM position errors below 0.2 mm and tool exchange repeatability of 0.39 mm.
Conclusion:
HYPER-OPS provides a compact platform for ophthalmic surgery with improved flexibility for alignment, motion compensation and workflow automation.
