用于微创手术的人形机器人快速工具交换系统
A Rapid Instrument Exchange System for Humanoid Robots in Minimally Invasive Surgery
AI总结：
本文提出一种沉浸式远程操控的快速工具交换系统，通过低延迟机制和实时第一人称视角感知，降低操作复杂度，提升人形机器人在受限临床环境中的工具交换稳定性。
摘要：
人形机器人技术在微创手术（MIS）中展现出巨大潜力。与专用多臂手术平台不同，人形机器人固有的双臂配置需要高效的工具交换能力以执行复杂手术，模仿外科医生手动切换工具的自然流程。为此，本文提出了一种沉浸式远程操控的快速工具交换系统。该系统利用基于单轴合规对接和环境约束释放的低延迟机制。集成头戴式显示器（HMD）的实时第一人称视角（FPV）感知，该框架显著降低了对接过程中的操作复杂性和认知负荷。专家与新手的比较评估显示，系统具有高操作鲁棒性和快速收敛的学习曲线；经过简短训练后，新手在工具连接和分离方面的表现有了显著提升。尽管远距离空间对齐在时间成本和协作稳定性方面仍存在挑战，但本研究成功验证了人形机器人在受限临床环境中执行稳定工具交换的技术可行性。
英文摘要：
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.
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。
