Milkins' five losses in-a-row, saw the 40-year-old slip to 31st in the world rankings, but he ended his slump with a 6-1 win over Hamza Akbar.
"I was under a lot of pressure because I just haven't won a match for ages.
"That is such a weight off my shoulders winning that. I needed it money-wise and ranking-wise," Milkins said.
The Gloucester potter, who plays Hammad Miah in the second round at the weekend, had his best run at the UK Championship in 2002 when he reached the quarter-finals.
He added: "I feel like I am going to take off but because I haven't won a match it has been really difficult. When things aren't going they aren't going, but maybe that is just the win I needed.
"I played alright. There weren't a lot of breaks but I didn't miss many balls.
"I have been playing so well in practice and I think that practice has got me through a few frames because I was really sharp.
"It's really tough when you are losing, any little thing can put you off. The last two or three matches I have lost because of my head and not because of how I have been playing. You get in a rut but I am out of it now."
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The 32-year-old was attacked in St George's Gardens shortly after midnight on Wednesday 12 July.
Detectives have appealed to two witnesses who saw the suspect and the victim shortly before the attack took place.
They said two men passed the woman and her attacker and spoke to both of them as they walked towards Sandy Row.
Police are appealing for these men, and other potential witnesses, to come forward with information which may assist their investigation.
Robert Milkins feels his form is about to "take off" after ending a five-match losing streak with a first-round win in the UK Championship.
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Police are investigating a serious sexual assault on a woman near Sandy Row in south Belfast.