A Rapid Instrument Exchange System for Humanoid Robots in Minimally Invasive Surgery

• URL: http://arxiv.org/abs/2604.02707v1
• Date: Fri, 03 Apr 2026 04:05:00 GMT
• Title: A Rapid Instrument Exchange System for Humanoid Robots in Minimally Invasive Surgery
• Abstract summary: This paper proposes an immersive teleoperated rapid instrument exchange system.<n>The system utilizes a low-latency mechanism based on single-axis compliant docking and environmental constraint release.
• Score: 9.137620295313711
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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.

Related papers

• A Compact Top-Loading Robot for Endovascular Interventions: Design, Control and Evaluation [10.95060747006468]
  Robot-assisted endovascular intervention can potentially reduce radiation exposure, improve surgeon ergonomics, enable telesurgery, and enhance procedural precision.<n>Existing systems often suffer from limited procedural coverage because constrained patient-side setups, restricted flexibility, and complex instrument exchange hinder clinical workflow integration.<n>This work presents a compact robotic system for endovascular interventions that enables continuous translational and rotational manipulation of standard endovascular instruments.
  arXiv  Detail & Related papers  (2026-07-13T16:35:14Z)
• An Experimental Modular Instrument With a Haptic Feedback Framework for Robotic Surgery Training [1.6206092886889898]
  The paper presents a modular experimental robotic laparoscopic instrument integrated with a real-time haptic feedback framework.<n>The proposed instrument employs a wrist-mounted force/torque (F/T) sensor to estimate tool-tissue interaction forces.<n>A haptic feedback framework is developed to extract the external contact forces, render them to the haptic device, and generate stable and perceptually meaningful feedback.
  arXiv  Detail & Related papers  (2026-04-30T03:55:05Z)
• Real-time Rendering-based Surgical Instrument Tracking via Evolutionary Optimization [21.436806983625885]
  We propose a versatile tracking pipeline that jointly estimates surgical instrument pose and joint configurations.<n>The proposed framework further generalizes to joint angle-free and bi-manual tracking settings, making it suitable for both vision feedback control and online surgery video calibration.
  arXiv  Detail & Related papers  (2026-03-12T00:30:30Z)
• DAISS: Phase-Aware Imitation Learning for Dual-Arm Robotic Ultrasound-Guided Interventions [39.32789192881233]
  In medical robotics, ultrasound-guided needle insertion demands precise bimanual coordination.<n>We present the Dual-Arm Interventional Surgical System (DAISS), a teleoperated platform that learns a phase-aware imitation policy for ultrasound-guided interventions.
  arXiv  Detail & Related papers  (2026-03-08T14:53:15Z)
• Learning Surgical Robotic Manipulation with 3D Spatial Priors [73.00031539525202]
  We introduce the Spatial Surgical Transformer (SST), an end-to-end visuomotor policy that empowers surgical robots with 3D spatial awareness.<n>Based on Surgical3D, we finetune a powerful geometric transformer to extract robust 3D latent representations from stereo endoscopes images.<n>SST achieves state-of-the-art performance and strong spatial generalization on complex surgical tasks.
  arXiv  Detail & Related papers  (2026-03-04T07:19:56Z)
• Give me scissors: Collision-Free Dual-Arm Surgical Assistive Robot for Instrument Delivery [4.187693745535412]
  During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons.<n>Existing research on robotic scrub nurses relies on predefined paths for instrument delivery.<n>We present a collision-free dual-arm surgical assistive robot capable of performing instrument delivery.
  arXiv  Detail & Related papers  (2026-03-03T03:14:59Z)
• RGA-Net: A Vision Enhancement Framework for Robotic Surgical Systems Using Reciprocal Attention Mechanisms [25.435178288442597]
  RGA-Net is a novel deep learning framework specifically designed for smoke removal in robotic surgery.<n>Our approach addresses the challenges of surgical smoke-including dense, non-homogeneous distribution and complex light scattering-through a hierarchical encoder-decoder architecture.
  arXiv  Detail & Related papers  (2026-02-14T11:31:54Z)
• Setup-Invariant Augmented Reality for Teaching by Demonstration with Surgical Robots [49.26692555627371]
  We present dV-STEAR, an open-source system that plays back task-aligned expert demonstrations without assuming identical setup joint positions between expert and novice.<n>In a user study, dV-STEAR significantly improved novice performance on tasks from the Fundamentals of Laparoscopic Surgery.<n>Across both tasks, participants using dV-STEAR exhibited significantly more balanced hand use and reported lower frustration levels.
  arXiv  Detail & Related papers  (2025-04-09T08:34:25Z)
• HACTS: a Human-As-Copilot Teleoperation System for Robot Learning [47.9126187195398]
  We introduce HACTS (Human-As-Copilot Teleoperation System), a novel system that establishes bilateral, real-time joint synchronization between a robot arm and teleoperation hardware.<n>This simple yet effective feedback mechanism, akin to a steering wheel in autonomous vehicles, enables the human copilot to intervene seamlessly while collecting action-correction data for future learning.
  arXiv  Detail & Related papers  (2025-03-31T13:28:13Z)
• Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing [88.99939660183881]
  We propose a framework for autonomous robotic navigation for subretinal injection. Our method consists of an instrument pose estimation method, an online registration between the robotic and the i OCT system, and trajectory planning tailored for navigation to an injection target. Our experiments on ex-vivo porcine eyes demonstrate the precision and repeatability of the method.
  arXiv  Detail & Related papers  (2023-01-17T21:41:21Z)
• Show Me What You Can Do: Capability Calibration on Reachable Workspace for Human-Robot Collaboration [83.4081612443128]
  We show that a short calibration using REMP can effectively bridge the gap between what a non-expert user thinks a robot can reach and the ground-truth. We show that this calibration procedure not only results in better user perception, but also promotes more efficient human-robot collaborations.
  arXiv  Detail & Related papers  (2021-03-06T09:14:30Z)
• Online Body Schema Adaptation through Cost-Sensitive Active Learning [63.84207660737483]
  The work was implemented in a simulation environment, using the 7DoF arm of the iCub robot simulator. A cost-sensitive active learning approach is used to select optimal joint configurations. The results show cost-sensitive active learning has similar accuracy to the standard active learning approach, while reducing in about half the executed movement.
  arXiv  Detail & Related papers  (2021-01-26T16:01:02Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.