Hybrid Parallel-Serial Tool Exchange Robot for Ophthalmic Precision Surgery: Mechanical Design
Journal
The International Journal of Medical Robotics and Computer Assisted Surgery
Journal Volume
22
Journal Issue
4
ISSN
1478-5951
1478-596X
Date Issued
2026-07-14
Author(s)
Abstract
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.
Subjects
hybrid robot
minimally invasive surgery
ophthalmic surgery robot
tool exchange
Publisher
Wiley
Type
journal article