中文标题：A soft micron accuracy robot design and clinical validation for retinal surgery

英文标题：A soft micron accuracy robot design and clinical validation for retinal surgery

来源期刊：Nature Publishing Group

基金项目：

作  者：Yiqi Chen,Xiangyu Guo,Xin Ye,Tong Jiang,Huan Chen,Jiafeng Yu,Ganglin Yang,Alois Knoll,Di Cui,Mingchuan Zhou,Lijun Shen

作者单位：Department of Ophthalmology, Key Laboratory of Precision Medicine for Eye Diseases of Zhejiang Province, Center for Rehabilitation Medicine,, Zhejiang Provincial People’s Hospital [Affiliated People’s Hospital, Hangzhou Medical College], Hangzhou, 314408, China
Robotic Micron-nano Manipulation Lab, College of Biological Systems Engineering and Food Science, Zhejiang University, Hangzhou, 310058, China
Hangzhou Dessight Biomedical Co. Ltd, Hangzhou, 310005, China
Department of Informatics, Technical University of Munich, Munich, 85748, Germany

摘  要：Retinal surgery is one of the most delicate and complex operations, which is close to or even beyond the physiological limitation of the human hand. Robots have demonstrated the ability to filter hand tremors and motion scaling which has a promising output in microsurgery. Here, we present a novel soft micron accuracy robot (SMAR) for retinal surgery and achieve a more precise and safer operation. A remote center of motion (RCM) parallelogram structure with a double spring adaptive balancing mechanism is designed and optimized to achieve precise motion and safer operation. The deviation from the expected trajectory with manual operation and robot-assisted operation is 143.06 μm ± 91.27 μm vs 26.39 μm ± 13.22 μm, which has been significantly improved}. We evaluated the safety performance of SMAR in live animals. Furthermore, preliminary human clinical trials showed that the robot-assisted has less drift compared to the manual operation with 41.07 μm ± 20.78 μm vs 299.66 μm ± 85.84 μm. The visual acuity with LogMAR of cases showed higher improvement in the robot-assisted group preliminary, which for manual of 0.78 ± 0.44 vs robot-assisted 1.24 ± 0.70 with no statistically significant difference. This study provides promising options for robot-assisted with very experienced surgeons in the most challenging microsurgery. The system has the potential to effectively reduce the training curve of doctors and alleviate the shortage of ophthalmic surgeons, which is very important for rural areas and underdeveloped countries.

全文链接： https://www.nature.com/articles/s41378-025-01002-5