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Cooperative robots for intraocular surgery allow surgeons to performvitreoretinal surgery with high precision and stability. Several robotstructural designs have shown capabilities to perform these surgeries. Thisresearch investigates the comparative performance of a serial and parallelcooperative-controlled robot in completing a retinal vessel-following task,with a focus on human-robot interaction performance and user experience. Ourresults indicate that despite differences in robot structure and interactionforces and torques, the two robots exhibited similar levels of performance interms of general robot-to-patient interaction and average operating time. Thesefindings have implications for the development and implementation of surgicalrobotics, suggesting that both serial and parallel cooperative-controlledrobots can be effective for vitreoretinal surgery tasks.

Human-Robot Interaction in Retinal Surgery: A Comparative Study of Serial and Parallel Cooperative Robots