Evaluating Robotic Approach Techniques for the Insertion of a Straight Instrument into a Vitreoretinal Surgery Trocar

INTRODUCTION Advances in vitreoretinal surgery have enabled interventions involving precisions previously deemed infeasible [1], with certified systems appearing on the market, e.g. the Preceyes Surgical System offering 20μm accuracy [2]. Despite their benefits, systems add a delay to the interventional workflow, which may be hindering their widespread adoption. A source of delay is the time required to get the system's micro-precise tool into the eye via the Trocar Entry Point (TEP). We will compare 3 approaches that use a teleoperation of the tool's position and orientation via the combination of co-manipulation and teleoperation. The The goal is to place a 0.5mm stainless steel rod within a task is complete when the participant deems the docking 1 mm custom trocar inserted into the inferior position of sufficient and extrudes the rod into the phantom via the a Bioniko Fundus Advanced Eye Phantom [4].