Evidence map›Paper›PMID 42866388›Full record

ArticleJournal of mechanisms and robotics2026

Analytical Kinematic Model and RCM Control of a Parallel-Serial Steady-Hand Eye Robot.

Botao Zhao, Mojtaba Esfandiari, Teng Long, Yub Heo, Haochen Wei, Adnan Munawar, Peter Gehlbach, Peter Kazanzides, Iulian Iordachita

Abstract read
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In one paragraph

Article in Journal of mechanisms and robotics, 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

The trial behind it

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

Corrections and comments

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

9 authors.

Botao ZhaoLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA.
Mojtaba EsfandiariLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA.
Teng LongLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA.
Yub HeoLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA.
Haochen WeiLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA.
Adnan MunawarLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA.
Peter GehlbachWilmer Eye Institute, Johns Hopkins School of Medicine, Baltimore, MD, 21287, USA.
Peter KazanzidesLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA.
Iulian IordachitaLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA.

Funding

Enabling Technology for Safe Robot-assisted Surgical MicromanipulationR01EB023943 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI GEHLBACH, PETER LOUIS, IORDACHITA, IULIAN IOAN · 2017 to 2024
$2.3M
Enabling Dexterous Intraocular Surgery with Robotic AssistanceR01EB034397 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI IULIAN IOAN IORDACHITA · 2024 to 2026
$1.2M
NIBIB NIH HHS R01 EB023943NIBIB NIH HHS R01 EB034397
6 · The paper itself

Abstract

Maintaining a precise remote center of motion is essential for safe and accurate tool manipulation in retinal microsurgery. However, existing numerical Jacobian identification methods for parallel manipulators often exhibit nonlinear, workspace-dependent inaccuracies and require frequent recalibration, limiting their reliability and clinical applicability. To address these challenges, this study presents an analytical kinematic framework for a hybrid parallel-serial robot designed for retinal surgery, known as the Steady-Hand Eye Robot (SHER 3.0). Closed-form solutions for forward and inverse kinematics, as well as analytical formulations of the direct and inverse Jacobians, are derived to ensure consistent motion estimation across the workspace. The kinematic performance of SHER 3.0 is analyzed to evaluate the manipulability and workspace efficiency. Building on these models, a model predictive control strategy is implemented on SHER 3.0, which maintains the remote center of motion constraint at the sclerotomy with sub-millimeter accuracy, with a root mean square error of 0.55 ± 0.12 mm, in a pilot study on a teleoperation experiment. Experimental results demonstrate the effectiveness of the proposed analytical models and control framework in enhancing robot motion stability and robustness of the controller in maintaining the remote center of motion constraints, enabling safe robot-assisted retinal microsurgery.

Identifiers

PMID42866388
PMCPMC13656171

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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.