Date of Award


Level of Access Assigned by Author

Campus-Only Thesis

Degree Name

Master of Science (MS)


Mechanical Engineering


Mohsen Shahinpoor

Second Committee Member

Vincent Caccese

Third Committee Member

Xudong Zheng


Robot assisted surgery has revolutionized the way in which many surgical interventions are performed. More than 2400 robotic surgical systems worldwide are currently used for performing laparoscopic, abdominal, and pelvic surgeries. However, surgical robotics has not yet been applied clinically to microsurgeries such as intraocular surgery. A surgeon faces various challenges during manual microsurgery such as steady hand movements, limited workspace, limited hand motion, manipulating delicate thin tissues, and holding the instrument in place for a long time. Robotic eye surgery may prove attractive if it can save time, reduce surgical complications, and open the door for more delicate surgical manipulations that cannot be done currently by surgeon's hands.

In this thesis work, a general design requirement for an ophthalmic microsurgery robotic system is discussed and based on these requirements a robotic system is proposed. The proposed system is capable to assist a surgeon perform ophthalmic microsurgeries with an accuracy of less than 10 qm. The designed robotic manipulator has 6 degrees of freedom and can accurately handle the position and orientation of the surgical instrument. The design features a remote center of motion that defines the point of entry into the eye or patient's body. The forward and inverse kinematics equations and workspace analysis of the robot is discussed in detail and a closed-form forward and inverse kinematics solutions are presented to be implemented for robust control of the robotic surgical system.