A robot-assisted eye positioning method with high precision and repeatability for ocular particle therapy: mechanical and geometric assessment.

To overcome these limitations, an eye positioning and monitoring system (eye positioning and monitoring system) was developed.

A gaze range analysis algorithm and an occlusion zone analytical algorithm for the beam path and cameras were proposed.

The eye positioning and monitoring system mechanical guidance range reached 360° azimuth and 60.1° maximum polar, while identifying specific exclusion zones.

Stability tests demonstrated cumulative workflow errors were always ≤ 0.22 mm and 0.01° for the guidance module, and ≤ 0.20 mm and 0.1° for the monitoring module.