Virtual Prototyping
Virtual Prototyping
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Hybrid Parallel-Serial Tool Exchange Robot for Ophthalmic Precision Surgery I (HYPEROPS-I)
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.
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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.
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Related publications
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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).
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Hybrid Parallel-Serial Tool Exchange Robot for Ophthalmic Precision Surgery II (HYPEROPS-II)
Computer-Aided Design
3D Printing Prototype
HYPEROPS-II streamlines end-effector design by integrating a precision linear piezo stage and a tool exchange mechanism akin to a hydraulic chuck. The overall robot size is further reduced, and its counter-gravity capability is enhanced by reorienting the drive motors and employing worm gear transmissions.
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Related publications
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Yu-An Chen, et al. "Miniaturization of a Dexterous Anthropomorphic Robot Manipulator for Ophthalmic Surgery." 10th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2025).​
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A Spherical Mechanism Featuring Distal Actuation and Tool Exchange
Driving Bowden Cable Sub-assembly
Physical Prototype
The spherical platform incorporates a remote center of motion (RCM), making it well-suited for minimally invasive surgery. Its low inertia is achieved by transmitting actuation power to the end effector through a Bowden cable mechanism, keeping the motors distal from the tool. Tool exchange is facilitated through passive geometric constraints and magnetic coupling, enabling quick and reliable reconfiguration.
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Related publications
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Ching Chou, Yu-Wei LIn, et al. "A Spherical Mechanism Featuring Distal Actuation and Tool Exchange." 10th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2025).​
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An MRI Compatible Robotic System for Abdominal Intervention
Driving Bowden Cable Sub-assembly
Physical Prototype
This study presents an MRI-compatible robotic system that incorporates a decoupled, parallelogram-based Remote Center of Motion (RCM) mechanism for precise needle angulation within a compact footprint. A pneumatically actuated needle insertion module employing inchworm motion overcomes stroke length limitations, while a compliant gripper enables secure yet adaptable needle handling.
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Related publications
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Hsueh-Yu Chen, et al. "An MRI Compatible Robotic System for Abdominal Intervention." 10th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2025).​
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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.
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Related publications
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Kai-Shiang Yuan, et al. " Robot-Assisted Ultrasound Probe Force Control Under Respiration-Induced Motion." 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).