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A surgeon's physiological hand tremor can significantly impact the outcome ofdelicate and precise retinal surgery, such as retinal vein cannulation (RVC)and epiretinal membrane peeling. Robot-assisted eye surgery technology providesophthalmologists with advanced capabilities such as hand tremor cancellation,hand motion scaling, and safety constraints that enable them to perform theseotherwise challenging and high-risk surgeries with high precision and safety.Steady-Hand Eye Robot (SHER) with cooperative control mode can filter outsurgeon's hand tremor, yet another important safety feature, that is,minimizing the contact force between the surgical instrument and sclera surfacefor avoiding tissue damage cannot be met in this control mode. Also, othercapabilities, such as hand motion scaling and haptic feedback, require ateleoperation control framework. In this work, for the first time, weimplemented a teleoperation control mode incorporated with an adaptive scleraforce control algorithm using a PHANTOM Omni haptic device and a force-sensingsurgical instrument equipped with Fiber Bragg Grating (FBG) sensors attached tothe SHER 2.1 end-effector. This adaptive sclera force control algorithm allowsthe robot to dynamically minimize the tool-sclera contact force. Moreover, forthe first time, we compared the performance of the proposed adaptiveteleoperation mode with the cooperative mode by conducting a vessel-followingexperiment inside an eye phantom under a microscope.

Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study