Vitreoretinal surgery pertains to the treatment of delicate tissues on the fundus of the eye using thin instruments. Surgeons frequently rotate the eye during surgery, which is called orbital manipulation, to observe regions around the fundus without moving the patient. In this paper, we propose the autonomous orbital manipulation of the eye in robot-assisted vitreoretinal surgery with our tele-operated surgical system. In a simulation study, we preliminarily investigated the increase in the manipulability of our system using orbital manipulation. Furthermore, we demonstrated the feasibility of our method in experiments with a physical robot and a realistic eye model, showing an increase in the view-able area of the fundus when compared to a conventional technique. Source code and minimal example available at https://github.com/mmmarinho/icra2023_orbitalmanipulation.
翻译:外科医生在手术期间经常旋转眼睛,即所谓的轨道操纵,以观察基金周围的区域,而不移动病人。本文建议用远程手术系统对机器人辅助的静脉外科手术中的眼进行自动轨道操纵。在模拟研究中,我们初步调查了我们系统使用轨道操纵的可操作性增加。此外,我们还展示了我们用物理机器人和现实眼模型进行实验的方法的可行性,表明与常规技术相比,基金可观测面积有所增加。资料来源代码和最小例子见https://github.com/mmmarinho/icra2023_轨道manipulation。