LapSurgie: 人形机器人通过远程操控手持腹腔镜进行手术
LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy
AI总结：
LapSurgie是一种基于人形机器人的腹腔镜远程操控框架，通过逆映射策略实现精准手到工具控制，并通过用户研究验证了其在微创手术中的可行性。
摘要：
机器人腹腔手术近年来因其在微创手术中可能提供更高效和精确的治疗而受到越来越多的关注。然而，外科机器人平台的采用仍然主要局限于高资源医疗中心，加剧了农村和低资源地区在医疗方面的不平等。为缩小这一差距，已探索了多种解决方案，从远程导师制到完全远程的远程手术。然而，将外科机器人系统实际部署到欠发达社区仍是一个未解决的挑战。人形系统提供了一条有希望的途径，因为它们可以直接在为人类设计的环境中操作，而无需进行广泛的基础设施修改，包括手术室。在本工作中，我们介绍了LapSurgie，第一个基于人形机器人的腹腔镜远程操控框架。该系统利用逆映射策略来操控手动腕部的腹腔镜工具，该策略遵循远程运动中心约束，使无需额外设置即可实现精确的手到工具控制。一个配备立体视觉系统的控制台提供实时视觉反馈。最后，跨平台的全面用户研究展示了所提出框架的有效性，并提供了在腹腔手术中部署人形机器人可行性的初步证据。
英文摘要：
Robotic laparoscopic surgery has gained increasing attention in recent years for its potential to deliver more efficient and precise minimally invasive procedures. However, adoption of surgical robotic platforms remains largely confined to high-resource medical centers, exacerbating healthcare disparities in rural and low-resource regions. To close this gap, a range of solutions has been explored, from remote mentorship to fully remote telesurgery. Yet, the practical deployment of surgical robotic systems to underserved communities remains an unsolved challenge. Humanoid systems offer a promising path toward deployability, as they can directly operate in environments designed for humans without extensive infrastructure modifications -- including operating rooms. In this work, we introduce LapSurgie, the first humanoid-robot-based laparoscopic teleoperation framework. The system leverages an inverse-mapping strategy for manual-wristed laparoscopic instruments that abides to remote center-of-motion constraints, enabling precise hand-to-tool control of off-the-shelf surgical laparoscopic tools without additional setup requirements. A control console equipped with a stereo vision system provides real-time visual feedback. Finally, a comprehensive user study across platforms demonstrates the effectiveness of the proposed framework and provides initial evidence for the feasibility of deploying humanoid robots in laparoscopic procedures.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
