比较三种机器人操作方式，提升眼科手术工具对接精度与效率
Evaluating Robotic Approach Techniques for the Insertion of a Straight Instrument into a Vitreoretinal Surgery Trocar
- 对比全共控制、混合共控/遥操作及带摄像辅助的混合方法
- 混合方法成功率高达91.6%至100%，2分钟内完成对接
- 摄像辅助的混合方案减轻操作负担，适合临床应用
视网膜微创手术机器人技术的进步使基因治疗等精准操作成为可能。本研究评估了三种基于7自由度机械臂的机器人对接策略：完全共控制、混合共控/遥操作以及结合摄像辅助的混合模式，用于将微型精密器械插入视网膜手术套管（trocar）。完全共控制方式速度最快，但成功率为42%；混合方法成功率显著提升（分别为91.6%和100%），且任务均在2分钟内完成。根据NASA任务负荷指数（TLX）评估，混合方法在体力消耗和努力程度上均更低。
原文摘要 · Abstract (English)
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.
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