Improved Design and Dynamic Analysis of Ophthalmic Surgical Robot

At present, manual peeling is often used in clinics to remove the inner limiting membrane around the macular hole to achieve the purpose of treatment. However, this method usually affects the quality of operation due to the small size of the eyeball, poor visibility, natural jitter of the doctor’s arm, and high mental stress during long-term operations. In this article, a 5 degrees of freedom(DOF) ophthalmic surgical robot with RCM (Remote Center of Motion) mechanism and a line-driven end effector to replace the pure manual operation mode were deeply designed to improve its design level and solve the problems in surgery. Then, on the basis of expounding the necessity and importance of dynamic analysis, the dynamic equations of the body structure and the end effector of the ophthalmic surgical robot were obtained. Finally, the range of motion, the maximum torque of the joint, the joint torque under the preset trajectory, and the torque changes of the end effector drive motor under different working conditions of the ophthalmic surgical robot are simulated and analyzed, which verifies the effectiveness of the improved design and mathematical modeling of the ophthalmic surgical robot. The research results are of great significance to guide the follow-up ophthalmic surgery robot motion shutdown control, standardized operation in the operation process and innovative structure design.