In vitreoretinal surgery, surgeons have to perform peeling of the internal limiting membrane (ILM) whose thickness is approximately 3μm. Precise motion is required in these this because the target tissue is very delicate, but the hand tremor degrades the motion accuracy of surgeons. Several eye surgical robotic systems have been proposed to assist surgeons in performing this difficult task, but the benefit of the robotic surgery has not been quantitatively evaluated. In this paper, we developed a sensorized eye model for a quantitative assessment of robotic eye surgery. The 3-axis force applied to the eye ground and the stress distribution of the eye ground can be measured with the proposed model. The experimental results show that the developed eye model has the capability for the quantitative assessment of the robotic eye surgery.
