低悪性度脾外傷の止血に向けた監督付き自律双腕吸引・焼灼システム
Supervised Autonomous Bimanual Suction and Cauterization for Bleeding Control in Low Grade Splenic Trauma
出血領域のリアルタイム segmentation と器具追跡・接触検出を統合し、2本のロボットアームで吸引と電気焼灼を同期させて脾臓の出血を自律的に止血する枠組みを提案し、摘出脾モデルで平均82.9%の焼灼被覆率を達成した。
著者: Francis Fan, Mackenzie A Eagleson, Yvonne Zhang, Hongting Pan, Lujia Yang, Ethan Kilmer, Jiawei Ge, Nural Yilmaz, Avinash Dhimal, Ahmed Ghazi, Jeffrey Jopling, Laura Connolly, Axel Krieger
分類: cs.RO
原文アブストラクト
Uncontrolled hemorrhage remains a leading cause of preventable trauma mortality. Timely intervention is not always available, making autonomous systems that can aid in bleeding control a promising alternative. Given the safety-critical nature of the task, supervised autonomy, in which the system executes the technical steps while a human retains oversight, represents a necessary intermediate step toward this goal. In this work, we present a supervised autonomous bimanual robotic framework for injury cauterization (eletrosurgical coagulation) in low-grade splenic trauma. The system integrates real-time bleeding segmentation, markerless tool keypoint tracking, and deep tool-tissue contact detection to coordinate two robotic arms for synchronized suction and cauterization. Evaluated on a novel, cannulated ex vivo splenic hemorrhage model, the system achieved an average bleeding surface cauterization coverage of 82.9% across seven distinct injuries. This work demonstrates the feasibility of using a supervised autonomous bimanual system to deliver targeted coagulation across an injury site.