TY - GEN
T1 - A Miniaturized Surgical Robotic Arm Treating Ophthalmic Diseases
AU - Wang, Yunfei
AU - Wang, Chunbo
AU - Liu, Mengyao
AU - Ren, Hao
AU - Zhang, He
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - The majority of patients with ophthalmic diseases require surgical treatment. Some of these procedures are highly repetitive, demanding that surgeons maintain high-intensity and high-precision operations. Training a qualified ophthalmic surgeon requires an extended period of practice. To alleviate the burden on doctors and further enhance the quality and safety of surgeries, there is a need to develop robotic-assisted surgical systems. This paper presents a miniaturized 6-DOF ophthalmic surgical robotic arm based on STM32. A motor distribution scheme is proposed, on the basis of which an external-installed mechanical structure was designed and fabricated. Two types of PCB denoted as core controller and motor controller, are daisy-chained via a CAN bus, thereby forming the hardware circuit. Finally, a control algorithm for the robotic arm is proposed, which is derived from dynamics analysis and a PID-based control. Ultimately, a dynamics test and a repeatability test validated its favorable performance.
AB - The majority of patients with ophthalmic diseases require surgical treatment. Some of these procedures are highly repetitive, demanding that surgeons maintain high-intensity and high-precision operations. Training a qualified ophthalmic surgeon requires an extended period of practice. To alleviate the burden on doctors and further enhance the quality and safety of surgeries, there is a need to develop robotic-assisted surgical systems. This paper presents a miniaturized 6-DOF ophthalmic surgical robotic arm based on STM32. A motor distribution scheme is proposed, on the basis of which an external-installed mechanical structure was designed and fabricated. Two types of PCB denoted as core controller and motor controller, are daisy-chained via a CAN bus, thereby forming the hardware circuit. Finally, a control algorithm for the robotic arm is proposed, which is derived from dynamics analysis and a PID-based control. Ultimately, a dynamics test and a repeatability test validated its favorable performance.
KW - STM32
KW - hardware circuit
KW - miniaturized mechanism design
KW - ophthalmic surgical robot
KW - robot control algorithm
UR - https://www.scopus.com/pages/publications/105031721063
U2 - 10.1109/ICEEMT66565.2025.11281230
DO - 10.1109/ICEEMT66565.2025.11281230
M3 - 会议稿件
AN - SCOPUS:105031721063
T3 - 2025 5th International Conference on Electrical Engineering and Mechatronics Technology, ICEEMT 2025
SP - 208
EP - 213
BT - 2025 5th International Conference on Electrical Engineering and Mechatronics Technology, ICEEMT 2025
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Electrical Engineering and Mechatronics Technology, ICEEMT 2025
Y2 - 17 October 2025 through 19 October 2025
ER -