高精度眼内手术机器人实现0.053毫米定位误差，支持自动换工具。
High-Precision Surgical Robotic System for Intraocular Procedures
- 基于OCT实时反馈与深度学习建模，实现精准定位
- 刀尖定位精度达0.053±0.031毫米，满足微小切口需求
- 适合眼科微创手术研究者及医疗机器人开发者
尽管已有大量机器人系统用于白内障和玻璃体视网膜手术，现有技术在器械操控的精度、准确性和自由度方面仍不足，尤其在手术过程中自动化工具更换方面存在局限。为此，本文设计并制造了一种新型机器人系统，重点提升刀尖定位精度、跟踪性能及平滑的器械交换机制。通过光学相干断层扫描（OCT）系统对外部评估其刀尖精度、重复性及保持微小切口的能力。经机器人校准与坐标精确配准后，刀尖定位精度达到0.053±0.031毫米。系统在基于深度学习的术前解剖建模与实时监督下，成功完成OCT引导的自动化白内障晶状体摘除手术，验证了整体性能。
原文摘要 · Abstract (English)
Despite the extensive demonstration of robotic systems for both cataract and vitreoretinal procedures, existing technologies or mechanisms still possess insufficient accuracy, precision, and degrees of freedom for instrument manipulation or potentially automated tool exchange during surgical procedures. A new robotic system that focuses on improving tooltip accuracy, tracking performance, and smooth instrument exchange mechanism is therefore designed and manufactured. Its tooltip accuracy, precision, and mechanical capability of maintaining small incision through remote center of motion were externally evaluated using an optical coherence tomography (OCT) system. Through robot calibration and precise coordinate registration, the accuracy of tooltip positioning was measured to be 0.053$\pm$0.031 mm, and the overall performance was demonstrated on an OCT-guided automated cataract lens extraction procedure with deep learning-based pre-operative anatomical modeling and real-time supervision.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。