Dynamic Analysis and Experimental Investigation of an ICL Implantation Surgical Robot

The successful implantation of implantable collamer lens (ICL) critically depends on the surgeon's operational stability, tissue positioning accuracy, and risk control during the procedure, which imposes extremely high demands on their technical expertise. To address this challenge, an ICL implantation surgical robot is proposed. The workflow and unique characteristics of ICL implantation surgery are analyzed, and the robotic system architecture is introduced. A dynamic model of the robot is established based on Lagrangian equations, and virtual prototype simulations are conducted to replicate the implantation process, calculate joint driving torque data, and provide theoretical support for subsequent structural optimization and gravity compensation studies. Fluctuation force experiments are performed using a physical prototype, where the robot completes the entire implantation procedure in live porcine eyes. Comparative analysis of fluctuation forces between manual and robotic operations demonstrates that the ICL implantation surgical robot exhibits superior stability and procedural continuity compared to manual techniques.