Abstract
Vitreoretinal surgery is one of ophthalmic surgery. Recently, the ophthalmic endoscope is sometimes used in vitreoretinal surgery. However, it is difficult to operate while using the ophthalmic endoscope in vitreoretinal surgery. Therefore, the robot which holds the ophthalmic endoscope is required. Here we present the design of a robotic holder for the ophthalmic endoscope and its control method. In addition, an experiment have been carried out to test our presented control method and the result suggest the effectiveness of our presented control method.
