The Brazil international was linked with a return to Santos in the January transfer window but talks between the two clubs broke down.
The former Manchester City forward, whose deal expires in 2014, is reportedly still on Santos' radar as the season comes to a close.
Robinho, who started his career with Santos, has dismissed rumours of a possible return and admitted that his troubles in Milan were nothing to do with football.
"January was a difficult time for me, but now that feeling has passed. I'm very happy at AC Milan, I'm getting into shape and I want a fresh start here," he said.
"I clarified with (Adriano) Galliani (Milan vice-president) that it was family matter and not a football issue. I keep hearing that I should move back to Brazil come June, but I don't think I will.
"When I came to Milan I told them I wanted to stay 10 years, I am still missing seven.
"Extending my contract? Sure. We will talk about it at the end of the season. I can assure you that these six matches will not be my last at the Rossoneri.
"Santos tried to take me, but I never asked to be transferred. I spoke with my family and together we decided to stay here."