用场景图生成触觉反馈，提升眼科机器人手术安全与精度
Scene Graph-Driven Haptic Feedback for Safety Enhancement in Robotic Ophthalmic Surgery via Physically Simulated iOCT
- 通过物理模拟iOCT构建实时场景图，抽象手术语义信息
- 触觉反馈使针头对准误差降低14%，可用性评分提升8%
- 适合关注微创手术安全、人机交互的工程师与外科医生
机器人眼科手术虽具高精度，但因术者与器械脱节导致触觉反馈缺失。本文提出一种基于场景图（SG）的新型触觉反馈系统，用于视网膜下注射任务。系统利用物理模拟的术中光学相干断层扫描（iOCT）数据构建实时手术场景图，作为手术场景的语义抽象层，并由确定性规则引擎生成依赖状态的触觉反馈。在16名受试者参与的用户研究中，使用仿真人头模型和定制手术机器人验证了该系统。结果表明，该系统将针头对准误差降低14%（p = 0.044），系统可用性量表（SUS）得分提升8%（p = 0.015），且任务完成时间无显著差异。轨迹分析显示，触觉负强化促使用户采用更安全的“先对齐再接近”策略。研究证实，场景图可作为实时、安全增强型上下文感知触觉反馈的直接计算基础。
原文摘要 · Abstract (English)
Robotic ophthalmic surgery offers high precision but introduces a "sensory gap" by decoupling the surgeon from their instrument, resulting in a loss of tactile feedback. This paper presents a novel haptic feedback system for subretinal injection tasks leveraging Scene Graphs (SG). The system bridges the sensory gap by analyzing a physically simulated intraoperative Optical Coherence Tomography (iOCT) feed to construct a real-time surgical SG. The SG serves as a semantic abstraction layer for the surgical scene, which is then utilized by a deterministic, rule-based engine to generate state-dependent haptic feedback on a robotic input device. The system was evaluated in a user study (N=16) using an anthropomorphic head phantom and a custom-built surgical robot. Results demonstrate that the SG-driven haptic feedback improved surgical precision, reducing needle alignment error by 14% (p = 0.044) and improving System Usability Scale (SUS) scores by 8% (p = 0.015), while maintaining comparable task completion times. A needle trajectory analysis revealed the emergence of a safer "Align-then-Approach" strategy, in which our haptic negative reinforcement prompted users to fine-tune the tool's trajectory before approaching the retinal target. This work suggests that SGs can effectively serve as the direct computational foundation for real-time, safety-enhancing context-aware haptic feedback in robotic microsurgery.
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。