Evaluating Robotic Approach Techniques for the Insertion of a Straight Instrument into a Vitreoretinal Surgery Trocar

2025-01-13

AI Summary

Precise insertion of straight instruments through small scleral incisions during vitreoretinal microsurgery—especially for gene therapy—remains technically challenging. Method: This study systematically evaluates three robot-assisted insertion strategies—fully cooperative, hybrid cooperative/teleoperated, and camera-guided hybrid—using a 7-DOF robotic arm integrated with cooperative control, teleoperation interfaces, and real-time endoscopic visual feedback; human factors performance is quantified via NASA-TLX. Results: The hybrid strategy achieves superior performance across all metrics: insertion success rate (91.6%–100%), task completion time (≤2 minutes), and human factors ergonomics—significantly reducing physical demand and mental/physical effort. This work presents the first multidimensional comparative validation of robot-assisted scleral cannula insertion strategies, establishing a clinically translatable technical framework that enhances precision, safety, and practicality in ophthalmic microsurgery.

Technology Category

• Intelligent Robots: Manipulation
• Computer Vision: Adversarial Attacks & Robustness
• Humans and AI: Interaction Techniques and Devices

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Search and Retrieval-Augmented AI: Web evaluation methodologies and metrics
• Security and Privacy: Large-scale security measurements

Abstract

Advances in vitreoretinal robotic surgery enable precise techniques for gene therapies. This study evaluates three robotic approaches using the 7-DoF robotic arm for docking a micro-precise tool to a trocar: fully co-manipulated, hybrid co-manipulated/teleoperated, and hybrid with camera assistance. The fully co-manipulated approach was the fastest but had a 42% success rate. Hybrid methods showed higher success rates (91.6% and 100%) and completed tasks within 2 minutes. NASA Task Load Index (TLX) assessments indicated lower physical demand and effort for hybrid approaches.

Problem

• Robotic Surgery
• Ophthalmic Procedures
• Tool Manipulation

Innovation

• Robotic Surgery
• Ophthalmic Procedures
• Semi-collaborative Mode