自律腹腔鏡手術のためのオープンソースロボティクス研究プラットフォーム
An Open-Source Robotics Research Platform for Autonomous Laparoscopic Surgery
産業用マニピュレータを手術ロボットとして機能させる、閉形式解析速度ソルバに基づくRCMコントローラを備えたオープンソースの手術ロボティクスプラットフォームを提案し、ブタの腹腔鏡手術で精度を検証した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Ariel Rodriguez, Lorenzo Mazza, Martin Lelis, Rayan Younis, Sebastian Bodenstedt, Martin Wagner, Stefanie Speidel
分類: cs.RO
原文アブストラクト
Autonomous robot-assisted surgery demands reliable, high-precision platforms that strictly adhere to the safety and kinematic constraints of minimally invasive procedures. Existing research platforms, primarily based on the da Vinci Research Kit, suffer from cable-driven mechanical limitations that degrade state-space consistency and hinder the downstream training of reliable autonomous policies. We present an open-source, robot-agnostic Remote Center of Motion (RCM) controller based on a closed-form analytical velocity solver that enforces the trocar constraint deterministically without iterative optimization. The controller operates in Cartesian space, enabling any industrial manipulator to function as a surgical robot. We provide implementations for the UR5e and Franka Emika Panda manipulators, and integrate stereoscopic 3D perception. We integrate the robot control into a full-stack ROS-based surgical robotics platform supporting teleoperation, demonstration recording, and deployment of learned policies via a decoupled server-client architecture. We validate the system on a bowel grasping and retraction task across phantom, ex vivo, and in vivo porcine laparoscopic procedures. RCM deviations remain sub-millimeter across all conditions, and trajectory smoothness metrics (SPARC, LDLJ) are comparable to expert demonstrations from the JIGSAWS benchmark recorded on the da Vinci system. These results demonstrate that the platform provides the precision and robustness required for teleoperation, data collection and autonomous policy deployment in realistic surgical scenarios.
