Give me scissors: Collision-Free Dual-Arm Surgical Assistive Robot for Instrument Delivery
During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks and enhance efficiency. Existing research on robotic scrub nurses relies on predefined paths for instrument delivery, which limits their generalizability and poses safety risks in dynamic environments. To address these challenges, we present a collision-free dual-arm surgical assistive robot capable of performing instrument delivery. A vision-language model is utilized to automatically generate the robot's grasping and delivery trajectories in a zero-shot manner based on surgeons' instructions. A real-time obstacle minimum distance perception method is proposed and integrated into a unified quadratic programming framework. This framework ensures reactive obstacle avoidance and self-collision prevention during the dual-arm robot's autonomous movement in dynamic environments. Extensive experimental validations demonstrate that the proposed robotic system achieves an 83.33% success rate in surgical instrument delivery while maintaining smooth, collision-free movement throughout all trials. The project page and source code are available at https://give-me-scissors.github.io/.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
A New Tensioning Method using Deep Reinforcement Learning for Surgical Pattern Cutting
Surgeons normally need surgical scissors and tissue grippers to cut through a deformable surgical tissue. The cutting accuracy depends on the skills to manipulate these two tools. Such skills are part of basic surgical s…
Deep Reinforcement Learningreinforcement-learningReinforcement LearningReinforcement Learning (RL)Genetic Algorithm to Optimize Design of Micro-Surgical Scissors
Microrobotics is an attractive area of research as small-scale robots have the potential to improve the precision and dexterity offered by minimally invasive surgeries. One example of such a tool is a pair of micro-surgi…
Quantifying scale-free behaviors in Rock-Paper-Scissors Models as a function of Mobility
We investigate the scale-free behavior of the spatial rock-paper-scissors model with May-Leonard dynamics, analyzing specific quantifiers that engender the power-law feature. The main results show that an important param…
Localising under the drape: proprioception in the era of distributed surgical robotic system
Despite their mechanical sophistication, surgical robots remain blind to their surroundings. This lack of spatial awareness causes collisions, system recoveries, and workflow disruptions, issues that will intensify with …
Scene UnderstandingTowards Autonomous Instrument Tray Assembly for Sterile Processing Applications
The Sterile Processing and Distribution (SPD) department is responsible for cleaning, disinfecting, inspecting, and assembling surgical instruments between surgeries. Manual inspection and preparation of instrument trays…