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About this paper
Zekai Liang, Xiao Liang, Soofiyan Atar, Sreyan Das, Zoe Chiu, Peihan Zhang, Calvin Joyce, Florian Richter and 2 more
Researchers from UC San Diego introduce LapSurgie, a framework enabling general-purpose humanoid robots to perform laparoscopic tasks using teleoperated off-the-shelf manual instruments. The system demonstrates accuracy comparable to the da Vinci Research Kit (dVRK) for novice users and even achieves the lowest error rates for professional surgeons during peg-transfer tasks, with reduced mental and physical demands compared to manual laparoscopy.
Key insights
- General-purpose humanoid robots can effectively integrate with and operate off-the-shelf manual laparoscopic instruments without requiring tool modifications.
- The anthropomorphic design of humanoids allows them to function within existing operating room environments, significantly reducing infrastructure costs and deployment complexity.
- An inverse mapping control scheme can translate operator intentions into precise humanoid movements for passive-wristed instruments, reducing the cognitive and physical load on surgeons.
Summary by alphaXiv.
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