Evaluating Robotic Approach Techniques for the Insertion of a Straight Instrument into a Vitreoretinal Surgery Trocar
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arXiv
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| Format: | Preprint |
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2025
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| author | Henry, Ross Huber, Martin Mablekos-Alexiou, Anestis Seneci, Carlo Abdelaziz, Mohamed Natalius, Hans da Cruz, Lyndon Bergeles, Christos |
| author_facet | Henry, Ross Huber, Martin Mablekos-Alexiou, Anestis Seneci, Carlo Abdelaziz, Mohamed Natalius, Hans da Cruz, Lyndon Bergeles, Christos |
| contents | 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. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2501_07180 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Evaluating Robotic Approach Techniques for the Insertion of a Straight Instrument into a Vitreoretinal Surgery Trocar Henry, Ross Huber, Martin Mablekos-Alexiou, Anestis Seneci, Carlo Abdelaziz, Mohamed Natalius, Hans da Cruz, Lyndon Bergeles, Christos Robotics Human-Computer Interaction Systems and Control 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. |
| title | Evaluating Robotic Approach Techniques for the Insertion of a Straight Instrument into a Vitreoretinal Surgery Trocar |
| topic | Robotics Human-Computer Interaction Systems and Control |
| url | https://arxiv.org/abs/2501.07180 |