发表机构
TUM University Hospital; Technical University of Munich; University of Alberta; NSK Ltd.（慕尼黑工业大学医院; 慕尼黑工业大学; 阿尔伯塔大学; 恩斯克有限公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究通过受控实验比较手动与遥操作眼内器械运动，发现输入设备保留任务结果但改变执行特征，如耗时更长、速度更慢、运动更碎片化，并重新分配手动努力。
AI 中文摘要
机器人显微手术的输入设备常被描述为保留了外科医生训练有素的技术，但这种说法很少被量化测量。我们在套管针约束、器械、眼模型和跟踪源均相同的条件下，比较了手动和遥操作的眼内器械运动，使得控制界面成为唯一变化的因素。先前的比较无法固定器械，因为机器人器械并非手动使用的工具。十六名参与者在商业眼科模拟器上，通过手动操作和通过一个三自由度输入设备控制五关节机器人，执行了一项导航任务。任务结果相同但均达到上限：每位参与者在两种界面下均成功获取了全部五个目标，且无视网膜或晶状体损伤。执行过程在所有测量指标上均存在差异。遥操作试验耗时三倍，中位速度仅为四分之一，角工作范围覆盖不到一半，且分解为3.5倍的独立运动次数。完成时间和运动碎片化在四次练习试验中显著改善，且尚未达到平台期；由配置的速度上限和关节限制设定的测量指标变化最小。手指活动量翻倍，捏合变异性增至三倍，因此减少器械自由度重新分配了手动努力，而非减少努力。该界面保留了结果，但重塑了执行过程。
英文摘要
Input devices for robotic microsurgery are frequently described as preserving the surgeon's trained technique, but the claim is rarely measured. We compared manual and teleoperated intraocular instrument motion with the trocar constraint, the instrument, the eye model and the tracking source common to both conditions, so that the control interface was the only factor varied. Prior comparisons cannot hold the instrument fixed, because a robotic instrument is not the tool used manually. Sixteen participants performed a navigation task on a commercial ophthalmic simulator by hand and through a three-degree-of-freedom input device commanding a five-joint robot. Task outcome was equal but at ceiling: every participant acquired all five targets under both interfaces with no retinal or lens injury. Execution differed on every measure. Teleoperated trials took three times as long at a quarter of the median speed, covered less than half the angular working range, and were broken into 3.5 times as many separate movements. Completion time and movement fragmentation improved substantially across four trials of practice and had not plateaued; the measures set by the configured rate ceiling and joint limit changed the least. Finger activity doubled and pinch variability tripled, so reducing instrument degrees of freedom redistributed manual effort rather than reducing it. The interface preserves the outcome and reshapes the execution.
CommentsThis work has been submitted to IEEE Access for possible publication
