Scene Graph-Driven Haptic Feedback for Safety Enhancement in Robotic Ophthalmic Surgery via Physically Simulated iOCT
Robotic ophthalmic surgery lacked tactile feedback, creating a sensory gap. This system uses Scene Graphs (SG) to process simulated intraoperative optical data and generate context-aware haptic feedback for subretinal injection tasks. The SG successfully improved surgical precision by reducing needle alignment error by 14% and boosting user usability.