Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabilities to perform these surgeries. This research investigates the comparative performance of a serial and parallel cooperative-controlled robot in completing a retinal vessel-following task, with a focus on human-robot interaction performance and user experience. Our results indicate that despite differences in robot structure and interaction forces and torques, the two robots exhibited similar levels of performance in terms of general robot-to-patient interaction and average operating time. These findings have implications for the development and implementation of surgical robotics, suggesting that both serial and parallel cooperative-controlled robots can be effective for vitreoretinal surgery tasks.

翻译：眼内手术协作机器人使外科医生能够以高精度和高稳定性进行玻璃体视网膜手术。多种机器人结构设计已展现出执行这些手术的能力。本研究聚焦于人机交互表现与用户体验，比较了串联和并联两种协作控制机器人在完成视网膜血管跟踪任务中的性能。结果表明，尽管机器人结构及交互力与力矩存在差异，但两台机器人在常规机器人-患者交互和平均操作时间方面表现出相似水平。这些发现对手术机器人的开发与实施具有启示意义，表明串联和并联协作控制机器人均可有效完成玻璃体视网膜手术任务。