低侵襲手術におけるヒューマノイドロボット用高速器具交換システム
A Rapid Instrument Exchange System for Humanoid Robots in Minimally Invasive Surgery
低侵襲手術用ヒューマノイドロボットのための、単軸コンプライアントドッキングと環境拘束解放による低遅延な遠隔操作器具交換システムを提案し、専門家と初心者の比較評価でその有効性を示した。
著者: Bingcong Zhang, Yihang Lyv, Lianbo Ma, Yushi He, Pengfei Wei, Xingchi Liu, Jinhua Li, Jianchang Zhao, Lizhi Pan
分類: cs.RO, cs.CV, cs.SY, eess.SY
原文アブストラクト
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument exchange capability to perform complex procedures, mimicking the natural workflow where surgeons manually switch instruments. To address this, this paper proposes an immersive teleoperated rapid instrument exchange system. The system utilizes a low-latency mechanism based on single-axis compliant docking and environmental constraint release. Integrated with real-time first-person view (FPV) perception via a head-mounted display (HMD), this framework significantly reduces operational complexity and cognitive load during the docking process. Comparative evaluations between experts and novices demonstrate high operational robustness and a rapidly converging learning curve; novice performance in instrument attachment and detachment improved substantially after brief training. While long-distance spatial alignment still presents challenges in time cost and collaborative stability, this study successfully validates the technical feasibility of humanoid robots executing stable instrument exchanges within constrained clinical environments.