This paper presents a robotic system for tree endotherapy, a targeted alternative to conventional spraying that reduces environmental exposure and operator workload. Manual injections on apple trees were analyzed to define key process requirements. Pressure measurements during manual applications showed a median injection pressure of 67 kPa, with excessive pressure causing bark cracking, while penetration-force tests showed a median needle insertion force of 593 N. Based on these results, a three-degree-of-freedom TRT robotic mechanism was developed, integrating RGB-D perception, SAM-based trunk segmentation, injection-point selection, needle insertion, and peristaltic dosing with pressure sensing. The application procedure includes mechanism positioning, controlled insertion, and pressure-limited injection. The proposed system demonstrates the feasibility of precise, automated, and environmentally preferable tree endotherapy.
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