Abstract
BackgroundIn the traditional Robot assisted minimally invasive surgery (RMIS) scenario, the instruments are fully controlled by the surgeon through tele-operation. Recent works have widely explored the surgical intelligence by integrating advanced approaches to enhance the surgical operating room (OR) outcomes. MethodsWe propose a novel single-master dual-slave framework for semi-autonomous suturing task, laparoscope information is introduced to feed back into the robotic control loop to guide the movement of surgical instrument. ResultsExperimental results demonstrate that the proposed method can handle the single-master dual-slave semi-autonomous suturing subtask. Furthermore, the framework exhibits compelling performance leading to the efficiency of surgical OR. ConclusionsAdding vision information into the robotic control loop can achieve the semi-autonomous operation, improve the surgical OR efficiency, this capability yields new level of intelligence for the RMIS.
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