Laser Eye Surgery Robot

Jonathan Hipps, Alejandro Osorio, Gianfranco Pisani,

Sebastian Rojas, Melissa Morris, Sabri Tosunoglu

Florida International University

Department of Material and Mechanical Engineering
10555 West Flagler Street
Miami, Florida, 33174 USA
305-348-1091

jhipp005@fiu.edu, aosor007@fiu.edu, gpisa001@fiu.edu, sroja043@fiu.edu, mmorris009@fiu.edu, tosun@fiu.edu

ABSTRACT
This paper proposes the design of a new robotic system that is
more compact and provides easier operation of the system than
the standard laser eye surgery equipment used in the optical
correction field. This system showcases the kinematics that went
into the overall look and design of the presented robot as well as
the proposed parts, motors and materials that would eventually
make up the general design of the laser eye surgery robot in this
paper.

Keywords
Eye Surgery, Robots Design, Robots Kinematics Figure 1. Robotic Laser Eye Surgical Equipment.

1. INTRODUCTION 2. CALCULATIONS AND KINEMATICS

The objective of this assignment was to create a new system
design for a robotic product used in the industry. For our group
study, we opted to create a new design feature for the robotic laser
eye surgery equipment used in the medical optical field. While
laser eye surgery is no new feat, the system can prove to be
cumbersome and somewhat of a challenge to operate. In the field
of eye correction surgery, there can be little to no margin of error
when it comes to corrective surgery.
In this project, our group has generated a new design feature to
the laser eye equipment so that it is easier to operate and to set up
for the patient. The final design of our optical surgical equipment
is shown in Figure 1. The overall design involves the use of a
telescoping arm to position the laser beam near the patients eye.
The laser is located within the table, and is directed to the end of
the arm via semi-adjustable mirrors. A fully-actuated mirror that
is able to precisely direct the laser beam to the desired locations is
located at the end-effector..
In order to calculate the kinematics of this robot, a special
approach has to be made as the laser final location is influenced
by optics laws, the eye curvature and the semi-infinite extension
of laser light.
When a ray of light strikes a plane mirror, the light ray reflects off
the mirror. Reflection involves a change in direction of the light
ray. The convention used to express the direction of a light ray is
to indicate the angle which the light ray makes with a normal line
drawn to the surface of the mirror. The angle of incidence is the
angle between this normal line and the incident ray; the angle of
reflection is the angle between this normal line and the reflected
ray. According to the law of reflection, the angle of incidence
equals the angle of reflection. These concepts are illustrated in the
Figure 2. In order to satisfy this law, the mirror surface has to be
almost perfectly flat and polished.

2015 Florida Conference on Recent Advances in Robotics 1 Melbourne, Florida, May 14-15, 2015
 where is the distance of the laser to the eye surface described
by the parameterization curves, is the extension of telescope
system and is the third mirror inclination angle.
The way the laser can reach the eye surface in different ways is
shown in Figure 5.

Figure 2. Law of Reflection

Second, the parameterization of the eye is made, so the kinematic

simulation can be accurately done, it is parameterized assuming
the eye as a sphere of dimensions shown in Figure 3.

Figure 5. Movement of Laser for Two Typical Surgical

Movements

With these equations the inverse kinematics can also be calculated

Figure 3. Typical Eye Dimensions for a given position in the eye as:

The parametric equations for spherical curves and surfaces are:
sin cos 2 ,

sin sin With all previous equations a MatLab function library was created
in order to simulate the movement of the laser. The code and
simulation can be seen on reference.
cos
The dimensions to be used in the kinematics when the arm is fully
Where is the eye radius, and are the polar angles as expanded are shown in Figure 6.
shown in Figure 4 and taken from Figure 3.

Figure 4. Spherical Polar Coordinates

Now, from the analysis of the dimensions the forward kinematics

can be established as

tan
Figure 6. Physical Dimensions of the Arm

2015 Florida Conference on Recent Advances in Robotics 2 Melbourne, Florida, May 14-15, 2015
3. ACTUATORS AND PISTONS FOR THE small spaces of our robot arm for the mirrors themselves. This
motor is chiefly designed and built by Maxon Motors, Inc. one of
SURGICAL ROBOT the leading manufacturers of high precision motors for medical
In this design project, there are only a few moving parts to this fields. This motor is most notable for being presently used in the
equipment. The largest moving part of the robot is the telescoping da Vinci Robotic Surgical System. Below is an image of the
arm as shown in figure 1. For this robot arm, a piston was needed motor itself including the general specifications of the motor:
that could not only support the weight of the telescoping arm of
the robot at full length, but one that will also move the arm gently
due to the dexterity involved with laser eye surgery. For this
report, we chose to use the Concentric LACT10P-12V-20 Linear
Actuator. This actuator has a 20:1 gearbox ratio for gentle
movements while it has a maximum speed of 0.5 in/s (1.3 cm/s).
It is also capable of handling a dynamic load of 110 lbs. (50 kg)
making it just as capable of handling the telescoping arm at its
fullest extended length. Below are two images of the actual piston
with its specifications and the SolidWorks design of the piston for
the design assembly of the robot.
The actuator characteristics are:
Gear ratio:20:1
Figure 4. RC 25 Motor
Free-run current at 12V: 500 mA
Stall current at 12V: 10 A
Linear speed at 12V: 0.5 in/s With general specifications:
Linear force at 12V: 110 lb
Maximum duty cycle: 25% Bearing type: Ball bearings
Max. speed: 14000 rpm
Axial play: 0.05 - 0.15 mm
Nominal voltage: 18 V
No load speed: 10200 rpm
Nominal speed: 8850 rpm
Stall torque: 220 mNm
Weight: 130 g

4. MATERIALS AND PARTS FOR THE

Figure 7. Concentric LACT10P-12V-20 Linear Actuator
SURGICAL ROBOT
In most laser machines, one or several mirrors are used to forward
the laser beam from the cavity to the working head. Usually, each
mirror deflects the laser beam at an angle of 90, corresponding to
an angle of incidence of 45. At these mirrors, reflectance should
be as high as possible in order to minimize loss of laser power. In
addition, phase shift between the s- and p-polarized components
of the reflected beam should be as low as possible in order to
avoid disturbing the polarization of the laser beam. Mirrors with
such properties are called zero-phase mirrors. This type of mirrors
will be used to guide the laser beam from its source to the end
position required by the practitioner with as minimum as possible
power decay from the reflection on the surface.

Figure 8. SolidWorks Design of the Linear Actuator

The movement of the mirrors themselves had to also be

addressed, as they required absolute precise movement during
surgery of the eyes. For this robot design, we opted to us the RE
25 motors. These motors are small enough to be able to fit in the

2015 Florida Conference on Recent Advances in Robotics 3 Melbourne, Florida, May 14-15, 2015

Figure 9. CO2 Zero Phase Mirrors
CO2 mirrors will have different shapes depending on the position
on the assembly, square shaped mirrors will be at the end on the
telescopic actuator, and circular mirrors will be at the base,
allowing the correct guidance of the beam with the best possible
precision. Square and circular shaped mirrors are shown below;
these two parts are the ones used in the assembly of the robot.
Figure 10. Square Shaped Mirrors
Figure 11. Circular Shaped Mirror
The base of the assembly will be manufactured with aluminum as
shown in Figure 12. It can be manufactured as two parts or as a
single billet one, independently of the manufacturing process
2015 Florida Conference on Recent Advances in Robotics
used; the base must be manufactured with high precision due to
the alignment of the beam.
Figure 12. Assembly Base
For the telescopic actuator, the creation of it requires different
pieces in order to serve its purpose. Initially two rings will attach
the telescopic assembly to the base, and then each circular ring
will attach to the next one until all three of them are aligned.
Inside the rings the laser beam will go through them, using the
mirrors as a guide. Again the precision required at this level is
very high; a slight variation on the measurements and the beam
could be off target.
Figure 13. Telescopic Attachment
Figure 14 shows one individual ring. All the rings are similar in
shape but with different measurements. Since each one of the
rings, in order to contract, has to be larger in radius or smaller in
order to be able to create the telescopic motion needed for the
arm.
4 Melbourne, Florida, May 14-15, 2015

Figure 14. First and Second Ring
Figure 15 demonstrates how all rings and attachment mated
together to create the complete arm. This arm coupled with the
linear actuator will account for the linear motion of the arm.
Figure 15. Telescopic Attachments Assembled
Figure 16. Computerized Tonometer CT-800
Topcon's ability to engineer a weight reduction of approximately
22 % has contributed to a smoother operation of the unit when
using the X-Y control lever. The up/down movement has also
2015 Florida Conference on Recent Advances in Robotics
been motorized. This all contributes to a more fluid measuring
process and a more accurate end result of smooth operation
compact & modern design, 8.5 inch LCD touch screen panel as
seen in Figure 16.
Figure 17. Pascal Laser Photocoagulador
As you see in Figure 17, the laser can produce different laser
shapes depending on the eye disease itself. This laser is greatly
recommended for our project because it provides treatment closer
to the fovea without fear of causing retinal damage or vision loss.
It can also be used for retinal and glaucoma disorder.
5. DESIGN AND ASSEMBLY OF THE
ROBOTIC LASER EYE SURGERY
EQUIPMENT
The following section will cover the complete assembly:
Figure 18 shows a section view of the laser eye surgery robot for
our design. This view shows the interior of the assembly and how
the laser is guided with the mirrors
Figure 18. Section View
Initially the laser beam comes from a source under the table; this
allows the laser to be safely removed without the laser equipment
causing any injury to the patient. Therefore, it creates a less
aggressive equipment and more friendly to the eyes of the patient
in term of visual aspects. Also removing the laser source from the
table makes the patient more calm with a more welcoming place.
This was one of the major goals for the creation of this robot;
5 Melbourne, Florida, May 14-15, 2015
create something more appealing and approachable than any other
predecessor, giving the patient a more relaxed procedure, thus
making the surgery a relaxed experience.
After the beam has being released from the source, it starts by
hitting the first and only circular mirror, whose position is fixed.
The angle of incidence for this mirror is 45 degrees with respect to
the x-axis which in term results in a 90 degrees difference
between the incoming and outgoing beam, creating the first
change in direction of the beam.
Then the beam comes to the second mirror, which is a square
mirror also with a fixed position of 68 degrees with respect to the
x-axis, resulting in a change of direction following mirror
reflection law, to reach the third and last mirror.
The third mirror is the most important one, since this will be the
one responsible for the lasers direction and end point position.
This mirror is not fixed; it can roll and pitch to be able to reach all
the points on the circular surface of the eye.
Also it is important to say that the first and second mirrors are Figure 20. Top Angle View
fixed, but they can be moved if the assembly is modified. They
are not moved automatically since that would introduce errors by
adding degrees of freedom, and that is simply not desired, 6. CONCLUSION
therefore these two mirror are fixed manually and can be fine-
The laser eye surgery robot underwent several design changes
tuned if it is required by the practitioner.
before the final design shown was agreed upon. While the eye
Figure 19 and 20 shows the complete assembly from different surgery robot was initially intended to be more compact in order
orientations. This helps to visualize the complete assembly and to allow for ease of transportation to other parts of the world, this
how it completes its assigned tasks. design was established to be easier to operate without so many
moving parts to work with. In conclusion, this design our group
feels will allow optical doctors the austerity of treating the patient
without the overwhelming task of getting the surgical equipment
ready for the patient.

7. ACKNOWLEDGMENTS
One of the authors, Melissa Morris, would like to thank the
DOD/Army Research Office for providing support under grant no.
ARO Grant No. W911NF-11-1-0131 to perform this research.
Their support is very much appreciated.

8. REFERENCES

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Figure 19. Isometric View [Accessed 22 04 2015].

[2] S. Tosunoglu and D. Tesar, Robotics and Automation,

University of Texas at Austin, 1993.
[3] Department of Mathematics, "Parameterized Surfaces,"
Harvey Mudd College, [Online]. Available:
https://www.math.hmc.edu/~gu/math142/mellon/Differential_
Geometry/Geometry_of_surfaces/Parameterized_Surfaces.htm
l. [Accessed 22 04 2015].

2015 Florida Conference on Recent Advances in Robotics 6 Melbourne, Florida, May 14-15, 2015
[4] J. J. Craig, Introduction to Robotics. Mechanics and Control,
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[5] Michael J. Newton, MD, "The Promise of Telemedicine",

Department of Ophthalmology, Mount Sinai Hospital, New
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2015 Florida Conference on Recent Advances in Robotics 7 Melbourne, Florida, May 14-15, 2015