Scene Graph-Driven Haptic Feedback for Safety Enhancement in Robotic Ophthalmic Surgery via Physically Simulated iOCT
Robotic ophthalmic surgery offers high precision but introduces a "sensory gap" by decoupling the surgeon from their instrument, resulting in a loss of tactile feedback. This paper presents a novel haptic feedback system for subretinal injection tasks leveraging Scene Graphs (SG). The system bridges the sensory gap by analyzing a physically simulated intraoperative Optical Coherence Tomography (iOCT) feed to construct a real-time surgical SG. The SG serves as a semantic abstraction layer for the surgical scene, which is then utilized by a deterministic, rule-based engine to generate state-dependent haptic feedback on a robotic input device. The system was evaluated in a user study (N=16) ...
| Authors | Danial Arbabi, Korab Hoxha, Angelo Henriques et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 September 2026 |
| Last updated at source | 7 September 2026 |
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