Advances in vitreoretinal robotic surgery enable precise techniques for gene therapies. This study evaluates three robotic approaches using the 7-DoF robotic arm for docking a micro-precise tool to a trocar: fully co-manipulated, hybrid co-manipulated/teleoperated, and hybrid with camera assistance. The fully co-manipulated approach was the fastest but had a 42% success rate. Hybrid methods showed higher success rates (91.6% and 100%) and completed tasks within 2 minutes. NASA Task Load Index (TLX) assessments indicated lower physical demand and effort for hybrid approaches.

翻译：玻璃体视网膜机器人手术的进展为基因治疗实现了精确技术。本研究评估了使用七自由度机械臂将微精密工具对接至套管的三种机器人进针方法：全协同操作、混合协同操作/遥操作以及带相机辅助的混合方法。全协同操作方法速度最快，但成功率仅为42%。混合方法显示出更高的成功率（91.6%和100%），且能在2分钟内完成任务。NASA任务负荷指数（TLX）评估表明，混合方法的体力需求和主观努力程度更低。