Hybrid Parallel-Serial Tool Exchange Robot for Ophthalmic Precision Surgery: Mechanical Design.

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.