We present a retinal-surgery telemanipulation system with submicron precision that is compact enough to be head-mounted and that uses a full range of existing disposable instruments. Two actuation mechanisms are described that enable the use of actuated instruments, and an instrument adapter enables quick-change of instruments. Experiments on a phantom eye show that telemanipulated surgery results in reduction of maximum downward force on the retina as compared to manual surgery for experienced users.
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