Comparative Analysis of Positioning Precision of Comanipulated vs. Telemanipulated Robotic Retinal Surgery

摘要

Retinal Vein Occlusion is a common retinal disorder which can cause severe loss of vision. Retinal vein cannulation is a promising treatment, but given the small diameter of retinal veins and the surgeon's limited positioning precision, it is considered too risky to be performed manually. The authors previously reported on the development of both a robotic comanipulation and telemanipulation system which have the potential to augment the surgeon's positioning precision. This work investigates the potential benefit of these systems for retinal vein cannulations. Ten subjects completed targeting tests on a custom-made test setup in a free-hand, comanipulation and telemanipulation fashion. Results show that both the usage of the comanipulation and telemanipulation system significantly improve the positioning precision compared to a free-hand test. The telemanipulation system currently outperforms the comanipulation system with respect to precision, while subjects appreciate the remarkable ease of use of the comanipulation system.