In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the instrument is inserted through the trocar, intrinsic physiological movements such as the patient's heartbeat, breathing process, and/or other purposeful body repositioning may deviate the position of the port of entry. This can cause a conflict between the registered RCM and the moved port of entry.
To mitigate this conflict, we seek to utilize the interaction forces at the RCM. We develop a novel framework that integrates admittance control into a redundancy resolution method for the RCM kinematic constraint. Using the force/torque sensory feedback at the base of the instrument driving mechanism (IDM), the proposed framework estimates the forces at RCM, rejects forces applied on other locations along the instrument, and uses them in the admittance controller. In this paper, we report analysis from kinematic simulations to validate the proposed framework. In addition, a hardware platform has been completed, and future work is planned for experimental validation.
LapGym -- An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery
Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；Heidelberg University Hospital（海德堡大学医院）；Friedrich-Alexander-University Erlangen-Nürnberg（埃尔朗根-纽伦堡弗里德里希-亚历山大大学）；Technical University Dresden（德累斯顿工业大学）
LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy
Department of Electrical and Computer Engineering, University of California San Diego（加州大学圣地亚哥分校电气与计算机工程系）；School of Electrical and Computer Engineering, Cornell University（康奈尔大学电气与计算机工程学院）；UC San Diego Health（加州大学圣地亚哥医学中心）
Learning-based Force Sensing and Impedance Matching for Safe Haptic Feedback in Robot-assisted Laparoscopic Surgery
organization= Surgical Robotics Laboratory (SRL), Mechanical Engineering Department, Concordia University , city= Montreal , state= QC , country= Canada；Robotics (SuPER) Centre, Department of Surgery, McGill University , city= Montreal , state= QC , country= Canada；Joyce Posluns Centre for Image Guided Innovation \& Therapeutic Intervention (PCIGITI), The Hospital for Sick Children (SickKids) , city= Toronto , state= ON , country= Canada
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）
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）
Point Cloud Segmentation for Autonomous Clip Positioning in Laparoscopic Cholecystectomy on a Phantom
Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；HIDSS4Health - Helmholtz Information and Data Science School for Health（亥姆霍兹信息与数据科学健康学校）；Friedrich-Alexander-University, Erlangen-Nuremberg（弗里德里希-亚历山大大学埃尔朗根-纽伦堡）；University Hospital Carl Gustav Carus and Centre for Tactile Internet with Human-in-the-loop (CeTI), Dresden University of Technology（卡尔·古斯塔夫·卡鲁斯大学医院及德累斯顿工业大学触觉互联网人机共融卓越中心）
SLAM assisted 3D tracking system for laparoscopic surgery
United Imaging Research Institute of Intelligent Imaging（联影智能影像研究院）；University of Michigan（密歇根大学）；United Imaging（联影医疗）；United Imaging of Surgery（联影外科研究院）
A novel Integrated Motion Tracking Device (IMTD) for Objective Laparoscopic Training Assessment: Development and Validation
Pprime Institute CNRS（法国国家科学研究中心Pprime研究所）；ENSMA（国立高等机械与航空技术学院）；University of Poitiers（普瓦捷大学）；Mechanical Laboratory of Sousse (LMS)（苏塞机械实验室）；National Engineering School of Sousse（苏塞国立工程师学院）；University of Sousse（苏塞大学）；National Engineering School of Monastir（莫纳斯提尔国立工程师学院）；University of Monastir（莫纳斯提尔大学）；Computer Engineering, Production and Maintenance Laboratory (LGIPM)（计算机工程、生产与维护实验室）；University of Lorraine（洛林大学）
Synthetic and Real Inputs for Tool Segmentation in Robotic Surgery
Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London（伦敦大学学院威康/EPSRC介入与外科科学中心）；Department of Computer Science, University College London（伦敦大学学院计算机科学系）
Contact-Stable Deformable Tissue Simulation Using Implicit Integration and Live-Pose Grasp Constraints for Laparoscopic Surgery Robot Policy Evaluation
Seoul National University Hospital（首尔大学医院）；Rosota Inc.（Rosota公司）；Seoul National University College of Medicine（首尔大学医学院）；Seoul National University（首尔大学）；Institute of Convergence Medicine with Innovative Technology, Seoul National University Hospital（首尔大学医院创新技术融合医学研究所）；Eulji University College of Medicine（乙支大学医学院）；Chungang University（中央大学）
Semi-Autonomous Laparoscopic Robot Docking with Learned Hand-Eye Information Fusion
School of Biomedical Engineering & Imaging Sciences, King’s College London（伦敦国王学院生物医学工程与影像科学学院）；School of Mechatronical Engineering, Beijing Institute of Technology（北京理工大学机电学院）；School of Medical Technology, Beijing Institute of Technology（北京理工大学医学技术学院）
First Clinical Experience in Urologic Surgery with a Novel Robotic Lightweight Laparoscope Holder
Grenoble University Hospital（格勒诺布尔大学医院）；Saint-Etienne University Hospital（圣埃蒂安大学医院）；TIMC-IMAG/GMCAO Lab (CNRS 5525)（TIMC-IMAG/GMCAO实验室（CNRS 5525））；Clinical Investigation Center, Grenoble University Hospital（格勒诺布尔大学医院临床研究中心）
Sensorless Remote Center of Motion Misalignment Estimation
Department of Computer Science（计算机科学系）；Department of Mechanical Engineering（机械工程系）；Vanderbilt University（范德比大学）；Vanderbilt University Medical Center（范德比大学医学中心）
MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery
State Key Laboratory of General Artificial Intelligence（国家关键人工智能实验室）；Beijing Institute for General Artificial Intelligence（北京通用人工智能研究院）；Institute for Artificial Intelligence（人工智能学院）；Shenyang Institute of Automation（沈阳自动化研究所）；Chinese Academy of Sciences（中国科学院）；PLA General Hospital（中国人民解放军总医院）
MVP-Tac: A Miniaturized Dual-Modal Vision and Photoelastic Tactile Sensor for Robot-Assisted Minimally Invasive Surgery
Elmore Family School of Electrical and Computer Engineering, Purdue University（普渡大学埃尔莫尔电气与计算机工程学院）；Edwardson School of Industrial Engineering, Purdue University（普渡大学爱德华森工业工程学院）；School of Mechanical Engineering, Purdue University（普渡大学机械工程学院）；Robotics Engineering Technology, Purdue University（普渡大学机器人工程技术学院）；Department of Civil Engineering, Stony Brook University（石溪大学土木工程系）；Department of Mechanical Engineering, Michigan State University（密歇根州立大学机械工程系）
Task Dynamics of Prior Training Influence Visual Force Estimation Ability During Teleoperation
Stanford University（斯坦福大学）；Palo Alto Veterans Affairs Health Care System（帕洛阿尔托退伍军人事务医疗系统）；Intuitive Surgical, Inc.（直觉外科公司）；Ben-Gurion University of the Negev（内盖夫本-古里安大学）
Spatiotemporal modeling of grip forces captures proficiency in manual robot control
University of Strasbourg（斯特拉斯堡大学）；Dedan Kimathi University of Technology（德丹·基马西理工大学）；ICube UMR 7357 Robotics Department University of Strasbourg（ICube UMR 7357 机器人系，斯特拉斯堡大学）；ICube UMR 7357 University of Strasbourg, Centre National de la Recherche Scientifique (CNRS)（ICube UMR 7357，斯特拉斯堡大学，法国国家科学研究中心）
