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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.
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.
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.
