Pre-Surgical Planner for Robot-Assisted Vitreoretinal Surgery: Integrating Eye Posture, Robot Position and Insertion Point
In robot-assisted vitreoretinal surgery, limited microscopic field-of-view and eye-position dependency constrain instrument accessibility. To address this, we propose the first preoperative planning framework jointly optimizing eye position, robotic pose, and trocar placement. Our method integrates geometric modeling with kinematic constraints to formulate a multi-variable optimization problem, validated physically using an adjustable biomimetic eye phantom. Unlike conventional single-factor adjustment paradigms, our approach enables cross-patient personalized planning that simultaneously maximizes workspace accessibility and ensures microscopic field-of-view alignment. Phantom experiments demonstrate high accuracy and robustness: axial rotation errors are 0.13±1.65° (Y-axis) and −1.40±1.13° (X-axis), while depth (Z-axis) error is 1.80±1.51 mm. This framework advances precision and adaptability in minimally invasive ophthalmic robotics.