A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces
the University of Tokyo（东京大学）；Federal University of Minas Gerais（米纳斯吉拉斯联邦大学）；The University of Tokyo Hospital（东京大学医院）；Johns Hopkins University（约翰斯·霍普金斯大学）
Murilo M. Marinho, Bruno V. Adorno, Kanako Harada, Kyoichi Deie, Anton Deguet, Peter Kazanzides, Russell H. Taylor, Mamoru Mitsuishi
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more challenging scenarios, such as pediatric surgery and microsurgery. However, the prevalence of case-specific solutions, particularly those focused on non-redundant robots, reduces the reproducibility of the initial results in more challenging scenarios. In this paper, we propose a general framework for the control of surgical robotics in constrained workspaces under teleoperation, regardless of the robot geometry. Our technique is divided into a slave-side constrained optimization algorithm, which provides virtual fixtures, and with Cartesian impedance on the master side to provide force feedback. Experiments with two robotic systems, one redundant and one non-redundant, show that smooth teleoperation can be achieved in adult laparoscopy and infant surgery.
Mixed-Reality-Guided Teleoperation of a Collaborative Robot for Surgical Procedures
Technical University of Cluj-Napoca（克卢日-纳波卡技术大学）；Technical Sciences Academy of Romania（罗马尼亚技术科学院）；”Iuliu Hatieganu” University of Medicine and Pharmacy（“尤利乌·哈蒂埃加努”医药大学）；École Centrale Nantes（南特中央理工学校）；Nantes Université（南特大学）；CNRS（法国国家科学研究中心）
本文提出一种结合 Kuka IIWA LBR 协作机器人与 Hololens 2 的混合现实遥操作系统，允许外科医生通过手势直观控制机器人定位，有效提升手术工作流程并缩短学习曲线。
Workspace Analysis for Laparoscopic Rectal Surgery : A Preliminary Study
Centre Hospitalier Universitaire（大学中心医院）；CSIR-Central Scientific Instruments Organisation（CSIR中央科学仪器组织）；Academy of Scientific and Innovative Research (AcSIR)（科学与创新研究院）；École Centrale Nantes（南特中央理工学院）；Nantes Université（南特大学）；CNRS（法国国家科学研究中心）；Research Center for Industrial Robots Simulation and Testing（工业机器人仿真与测试研究中心）；Technical University of Cluj-Napoca（克卢日-纳波卡技术大学）
VISTA: A Benchmark for Real-Time Video Streaming under Network Impairments in Surgical Teleoperation
School of Engineering, University of Warwick（战争学院工程学院）；Institute for Applied and Translational Technologies in Surgery, University Hospitals Coventry & Warwickshire NHS Trust（外科应用与转化技术研究所，科文伯恩与沃里克郡国家健康信托基金会）；Pengcheng Laboratory（鹏城实验室）；South China University of Technology（华南理工大学）；Southern University of Science and Technology（南方科技大学）
A study on a Real-Time VR-Based Teleoperation Framework for Manipulator in Dynamic Environment
Department of Robotics, Hanyang University（韩世大学机器人系）；Department of Smart Construction Engineering, Hanyang University（韩世大学智能建造工程系）；Department of Interdisciplinary Robot Engineering Systems, Hanyang University（韩世大学跨学科机器人工程系统系）；School of Smart Convergence Engineering, Hanyang University, Ansan（韩世大学智能融合工程学院，安山）
SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants
University of Toronto（多伦多大学）；University of Bern（伯尔尼大学）；University of California, Berkeley（加利福尼亚大学伯克利分校）；NVIDIA（英伟达）；Georgia Institute of Technology（佐治亚理工学院）
CaFe-TeleVision: A Coarse-to-Fine Teleoperation System with Immersive Situated Visualization for Enhanced Ergonomics
Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR（机械与自动化工程系、T-Stone机器人研究所、香港中文大学（深圳））
Expanding the Workspace of Electromagnetic Navigation Systems Using Dynamic Feedback for Single- and Multi-agent Control
Multi-Scale Robotics Lab, ETH Zurich（多尺度机器人实验室，苏黎世联邦理工学院）；Learning and Dynamical Systems Group, Max Planck Institute for Intelligent Systems（学习与动态系统组，马克斯·普朗克智能系统研究所）
Human-Robot Shared Control for Surgical Robot Based on Context-Aware Sim-to-Real Adaptation
University of Bristol（布里斯托大学）；Bristol Robotics Lab（布里斯托机器人实验室）；Imperial College London（帝国理工学院）；Polytechnic University of Milan（米兰理工大学）；Shanghai Jiao Tong University（上海交通大学）；Worcester Polytechnic Institute（伍斯特理工学院）
Control Modes of Teleoperated Surgical Robotic System's Tools in Ophthalmic Surgery
Department of Mechanical and Aerospace Engineering at the University of California, Los Angeles (UCLA)（加州大学洛杉矶分校机械与航空航天工程系）；Jules Stein Eye Institute at the University of California, Los Angeles (UCLA)（加州大学洛杉矶分校Jules Stein眼科研究所）
An Open-Source Robotics Research Platform for Autonomous Laparoscopic Surgery
Department of Translational Surgical Oncology, NCT/UCC Dresden, a partnership between DKFZ, MF UKD, TUD, HZDR Dresden, Germany（转化外科肿瘤学系，NCT/UCC德累斯顿，DKFZ、MF UKD、TUD、HZDR德累斯顿的联合体）；Cluster of Excellence-CeTI, TUD, Germany（卓越中心- CeTI，TUD，德国）；Department of Visceral, Thoracic and Vascular Surgery, Faculty of Medicine and University Hospital Carl Gustav Carus, TUD, Germany（visceral、胸腔和血管外科系，医学学院和卡尔·格奥尔格·卡尔医院，TUD，德国）
