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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically described...

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Updated: Jul 15, 2026

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

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Published on: January 7, 2019

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.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|July 14, 2026

Summary

HYPER-OPS, a novel ophthalmic robot, offers a software-controlled remote centre of motion (RCM) for enhanced surgical precision. This system improves alignment, motion compensation, and tool exchange, advancing robot-assisted eye surgery.

Keywords:

hybrid robot minimally invasive surgery ophthalmic surgery robot tool exchange

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Last Updated: Jul 15, 2026

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Area of Science:

Robotics
Ophthalmic Surgery
Medical Devices

Background:

Robot-assisted ophthalmic surgery demands precise manipulation around a remote centre of motion (RCM).
Traditional systems with fixed RCMs lack flexibility in alignment, motion compensation, and tool exchange.
This study introduces HYPER-OPS, a hybrid parallel-serial ophthalmic robot.

Purpose of the Study:

To present HYPER-OPS, a novel hybrid robot for ophthalmic surgery.
To demonstrate a software-controlled RCM and integrated tool exchange capability.
To evaluate the system's performance and flexibility.

Main Methods:

Development of a compact six-degree-of-freedom manipulator utilizing a dual-layer five-bar linkage.
Implementation of software-controlled RCM functionality and passive magnetic tool exchange.
Conducting kinematic, workspace, structural analyses, and experimental validation.

Main Results:

The robot achieved the necessary workspace for ophthalmic procedures with configurable RCM placement.
Finite element analysis predicted minimal deformation (0.045 mm) and a natural frequency of 56 Hz.
Experimental validation showed RCM position errors under 0.2 mm and tool exchange repeatability of 0.39 mm.

Conclusions:

HYPER-OPS offers a compact robotic platform for ophthalmic surgery.
The system enhances flexibility in alignment, motion compensation, and workflow automation.
This advancement improves the capabilities of robot-assisted eye surgery.