Vitreoretinal surgery is challenging even for expert surgeons owing to the delicate target tissues and the diminutive 7-mm-diameter workspace in the retina. In addition to improved dexterity and accuracy, robot assistance allows for (partial) task automation. In this work, we propose a strategy to automate the motion of the light guide with respect to the surgical instrument. This automation allows the instrument's shadow to always be inside the microscopic view, which is an important cue for the accurate positioning of the instrument in the retina. We show simulations and experiments demonstrating that the proposed strategy is effective in a 700-point grid in the retina of a surgical phantom.

翻译：静脉外科手术甚至对专业外科医生也具有挑战性,因为视网膜中的目标组织很微妙,而且有二分点外科7毫米半径的工作空间。除了改进灵敏度和精确度外,机器人协助还允许(部分)任务自动化。在这项工作中,我们提出了一个战略,使外科仪器的光导运动自动化。这种自动化使仪器的影子始终能够存在于微镜中,这是将仪器精确定位在视网膜中的重要信号。我们展示了模拟和实验,表明拟议战略在外科幻影视网格中的700点网格中是有效的。