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.
@article{arxiv.2501.07180,
title = {Evaluating Robotic Approach Techniques for the Insertion of a Straight Instrument into a Vitreoretinal Surgery Trocar},
author = {Ross Henry and Martin Huber and Anestis Mablekos-Alexiou and Carlo Seneci and Mohamed Abdelaziz and Hans Natalius and Lyndon da Cruz and Christos Bergeles},
journal= {arXiv preprint arXiv:2501.07180},
year = {2025}
}