Precision Ophthalmic Robot with Tool Exchange Mechanism

Computer-Aided Design

Physical Prototype

By combining two five-bar mechanism at different heights, a precision ophthalmic robot with software-controlled remote center of motion is realized. The palm-size robot features remote actuation for the angulation, and a passive tool cartridge with magnetic coupling is designed for quick tool exchange.

Intuitive Kinematic Mapping

Software-Controlled Remote Center of Motion

The robot's design enables intuitive kinematic mapping that closely replicates the posture of a human hand. It achieves full six degrees of freedom in space through two five-bar linkages operating on separate planes, combined with insertion and tool rotation. Additionally, a software-controlled remote center of motion (RCM) can be implemented using virtual fixture techniques.

Related publications

Yung-Chen Wu, et al. "A Palm-Sized Anthropomorphic Parallel-Serial Robot for Ophthalmic Surgery." 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

Robot-Assisted Ultrasound Probe Force Control

Experimental Setup

Adaptive Feedback Control under Normal Breathing

A 6-DOF serial robot is utilized to assist in maintaining constant contact force between the ultrasound probe and the abdomen, despite respiration-induced disturbances, to ensure image quality during ultrasound-guided surgical procedures. Adaptive filtering techniques are exploited to account for structured disturbances in human breathing.