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Control Modes of Teleoperated Surgical Robotic System's Tools in Ophthalmic Surgery
Haoran Wang1, Yasamin Foroutani1, Matthew Nepo1
1Department of Mechanical and Aerospace Engineering at the University of California, Los Angeles (UCLA), USA 90095.
IEEE Transactions on Medical Robotics and Bionics
|January 12, 2026
Summary
Inside Control Mode in robotic surgery offers superior performance over Outside Control Mode for vitreoretinal procedures. Higher scaling factors enhance precision, reducing errors and tissue damage, though task completion time may vary.
Area of Science:
- Robotics
- Surgical Technology
- Human-Computer Interaction
Background:
- Teleoperated surgical robotic systems are advancing minimally invasive procedures.
- Two control modes, Inside Control and Outside Control, are available for tool manipulation.
- Simulated vitreoretinal surgery provides a controlled environment for performance evaluation.
Purpose of the Study:
- To compare surgeon performance between Inside Control and Outside Control modes.
- To evaluate the impact of various scaling factors on surgical tasks.
- To assess the effectiveness of the Intraocular Robotic Interventional Surgical System (IRISS) in a simulated setting.
Main Methods:
- Utilized the IRISS console with a virtual reality simulation of eye anatomy and surgical robot.
- Participants (5 experienced surgeons, 5 novices) performed standard vitreoretinal tasks.
- Tasks included touch and reset, grasp and drop, inject, and circular tracking.
- Evaluated performance metrics across different control modes and scaling factors (20, 30).
Main Results:
- Inside Control Mode demonstrated superior performance compared to Outside Control Mode across tasks.
- Higher scaling factors (20 and 30) significantly reduced trajectory errors and tissue damage.
- Task completion times varied, indicating a trade-off between speed and precision.
Conclusions:
- Inside Control Mode and higher scaling factors are beneficial for precise vitreoretinal surgical tasks.
- Optimizing control dynamics and UI can improve robotic teleoperation outcomes.
- Robotic surgery has the potential to enhance dexterity and accessibility of complex procedures.
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