Evidence map›Paper›PMID 42446119›Full record

ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2026

Hybrid Parallel-Serial Tool Exchange Robot for Ophthalmic Precision Surgery: Mechanical Design.

Yu-Hsiu Lee, Yung-Chen Wu, Yu-An Chen, Ching Chou, Che-An Lin

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Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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0citing papers in PubMed
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1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

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PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

5 authors.

Yu-Hsiu LeeDepartment of Mechanical Engineering, National Taiwan University, Taipei, Taiwan.ORCID https://orcid.org/0000-0003-4363-2051
Yung-Chen WuDepartment of Mechanical Engineering, National Taiwan University, Taipei, Taiwan.
Yu-An ChenDepartment of Mechanical Engineering, National Taiwan University, Taipei, Taiwan.
Ching ChouDepartment of Mechanical Engineering, National Taiwan University, Taipei, Taiwan.
Che-An LinDepartment of Mechanical Engineering, National Taiwan University, Taipei, Taiwan.

Funding

National Science and Technology Council NSTC 114-2628-E-002-025National Taiwan University NTU-CC-114L892101
6 · The paper itself

Abstract

backgroundRobot-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.

methodsA 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.

resultsThe 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.

conclusionHYPER-OPS provides a compact platform for ophthalmic surgery with improved flexibility for alignment, motion compensation and workflow automation.

Indexed as

Ophthalmologic Surgical ProceduresRobotic Surgical ProceduresBiomechanical PhenomenaEquipment DesignFinite Element AnalysisHumansMinimally Invasive Surgical ProceduresMotionReproducibility of ResultsRoboticsSoftwareSurgery, Computer-Assistedhybrid robotminimally invasive surgeryophthalmic surgery robottool exchange

Identifiers

PMID42446119
PMCPMC13367033

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Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.