优化眼位与机器人位置，提升眼科手术机器人可达性
Pre-Surgical Planner for Robot-Assisted Vitreoretinal Surgery: Integrating Eye Posture, Robot Position and Insertion Point
- 联合优化眼球倾斜角、机器人位置和穿刺点以扩大操作范围
- 实测误差小于2度（旋转）和2毫米（深度），满足手术精度要求
- 适合需精准定位的微创眼科手术机器人研发与临床部署
近年来，多种机器人框架被用于辅助眼科医生完成复杂的玻璃体视网膜手术，如视网膜下给药。这些手术机器人虽具潜力，但多数受限于工作空间以保证最大精度。此外，通过手术显微镜可见区域仅取决于眼球姿态。若眼球姿态、套管位置与机器人配置未正确匹配，器械将无法到达目标位置，导致准备需重做。为此，本文提出一种优化框架，协调眼球倾斜与机器人定位，以适配不同患者的多个靶点。该方法在可调式仿生眼模型上验证，流程误差为：绕Y轴旋转0.13 ± 1.65°，绕X轴-1.40 ± 1.13°，深度方向（Z轴）1.80 ± 1.51 mm。讨论部分还分析了潜在误差来源。
原文摘要 · Abstract (English)
Several robotic frameworks have been recently developed to assist ophthalmic surgeons in performing complex vitreoretinal procedures such as subretinal injection of advanced therapeutics. These surgical robots show promising capabilities; however, most of them have to limit their working volume to achieve maximum accuracy. Moreover, the visible area seen through the surgical microscope is limited and solely depends on the eye posture. If the eye posture, trocar position, and robot configuration are not correctly arranged, the instrument may not reach the target position, and the preparation will have to be redone. Therefore, this paper proposes the optimization framework of the eye tilting and the robot positioning to reach various target areas for different patients. Our method was validated with an adjustable phantom eye model, and the error of this workflow was 0.13 +/- 1.65 deg (rotational joint around Y axis), -1.40 +/- 1.13 deg (around X axis), and 1.80 +/- 1.51 mm (depth, Z). The potential error sources are also analyzed in the discussion section.
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