已知视网膜手术对于眼科医生甚至对于视网膜专家来说是复杂且具有挑战性的任务。图像引导的机器人辅助干预是新颖且有前途的解决方案之一，可以在显微外科手术中增强人类的能力。在本文中,提出了一种在机器人辅助视网膜手术中基于聚光灯投影的显微手术器械三维导航方法。为了验证该方法的可行性和有效性,具有远程运动中心(RCM)约束的体模中的血管跟踪任务由稳定手眼机器人(SHER)执行。将结果与手动跟踪进行比较，协同控制跟踪与SHER和基于聚光灯的自动跟踪与SHER。报告的结果是，基于聚光灯的自动跟踪与SHER可以达到0.013mm的平均跟踪误差，并保持0.1mm的距离误差与所需范围相比，与单独的手动或协作控制方法相比，显着改善。
Retinal surgery is known to be a complicated and challenging task for an ophthalmologist even for retina specialists. Image guided robot-assisted intervention is among the novel and promising solutions that may enhance human capabilities during microsurgery. In this paper, a novel method is proposed for 3D navigation of a microsurgical instrument based on the projection of a spotlight during robot-assisted retinal surgery. To test the feasibility and effectiveness of the proposed method, a vessel tracking task in a phantom with a Remote Center of Motion (RCM) constraint is performed by the Steady-Hand Eye Robot (SHER). The results are compared to manual tracking, cooperative control tracking with the SHER and spotlight-based automatic tracking with SHER. The reported results are that the spotlight-based automatic tracking with SHER can reach an average tracking error of 0.013 mm and keeping distance error of 0.1 mm from the desired range demonstrating a significant improvement compared to manual or cooperative control methods alone.
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