Evidence map›Paper›PMID 41522675›Full record

ArticleIEEE transactions on medical robotics and bionics2025

Control Modes of Teleoperated Surgical Robotic System's Tools in Ophthalmic Surgery.

Haoran Wang, Yasamin Foroutani, Matthew Nepo, Mercedes Rodriguez, Ji Ma, Jean-Pierre Hubschman, Tsu-Chin Tsao, Jacob Rosen

Abstract read
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In one paragraph

Article in IEEE transactions on medical robotics and bionics, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it
0cells of the map it votes in
0citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

8 authors.

Haoran WangDepartment of Mechanical and Aerospace Engineering at the University of California, Los Angeles (UCLA), USA 90095.
Yasamin ForoutaniDepartment of Mechanical and Aerospace Engineering at the University of California, Los Angeles (UCLA), USA 90095.
Matthew NepoDepartment of Mechanical and Aerospace Engineering at the University of California, Los Angeles (UCLA), USA 90095.
Mercedes RodriguezJules Stein Eye Institute at the University of California, Los Angeles (UCLA), USA 90095.
Ji MaDepartment of Mechanical and Aerospace Engineering at the University of California, Los Angeles (UCLA), USA 90095.
Jean-Pierre HubschmanJules Stein Eye Institute at the University of California, Los Angeles (UCLA), USA 90095.
Tsu-Chin TsaoDepartment of Mechanical and Aerospace Engineering at the University of California, Los Angeles (UCLA), USA 90095.
Jacob RosenDepartment of Mechanical and Aerospace Engineering at the University of California, Los Angeles (UCLA), USA 90095.

Funding

Intraocular Robotic Interventional and Surgical System for Automated Cataract SurgeryR01EY030595 · NEI · UNIVERSITY OF CALIFORNIA LOS ANGELES · PI TSAO, TSU-CHIN TC · 2019 to 2022
$2.3M
Vitreoretinal Surgery via Robotic Microsurgical System with Image Guidance, Force Feedback, Virtual Fixture, and Augmented RealityR01EY029689 · NEI · UNIVERSITY OF CALIFORNIA LOS ANGELES · PI TSAO, TSU-CHIN TC · 2019 to 2023
$2.0M
NEI NIH HHS R01 EY029689NEI NIH HHS R01 EY030595
6 · The paper itself

Abstract

The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Inside Control Mode, which emulates tool manipulation near the distal end (i.e., as if the surgeon was holding the tip of the instrument inside the patient's body), and (2) Outside Control Mode, which emulates manipulation near the proximal end (i.e., as if the surgeon was holding the tool externally). The overarching aim of this reported research is to study and compare the surgeon's performance utilizing these two control modes of operation along with various scaling factors in a simulated vitreoretinal surgical setting. The console of Intraocular Robotic Interventional Surgical System (IRISS) was utilized but the surgical robot itself and the human eye anatomy was simulated by a virtual environment (VR) projected microscope view of an intraocular setup to a VR headset. Five experienced vitreoretinal surgeons and five subjects with no surgical experience used the system to perform fundamental tool/tissue tasks common to vitreoretinal surgery including: (1) touch and reset; (2) grasp and drop; (3) inject; (4) circular tracking. The results indicate that Inside Control outperforms Outside Control across multiple tasks and performance metrics. Higher scaling factors (20 and 30) generally provided better performance, particularly for reducing trajectory errors and tissue damage. This improvement suggests that larger scaling factors enable more precise control, making them the preferred option for fine manipulation tasks. However, task completion time was not consistently reduced across all conditions, indicating that surgeons may need to balance speed and accuracy/precision based on specific surgical requirements. By optimizing control dynamics and user interface, robotic teleoperation has the potential to reduce complications, enhance surgical dexterity, and expand the accessibility of high-precision procedures to a broader range of practitioners.

Indexed as

Control ModeOphthalmic SurgeryOphthalmic Surgical Robotic SystemOphthalmologyScaling FactorSurgical RoboticsTeleoperationVirtual Reality Simulation

Identifiers

PMID41522675
PMCPMC12782209

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Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.