A Rapid Instrument Exchange System for Humanoid Robots in Minimally Invasive Surgery
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 si...
| Authors | Bingcong Zhang, Yihang Lyv, Lianbo Ma et al. |
|---|---|
| Primary category | cs.RO |
| Published | 3 April 2026 |
| Last updated at source | 3 April 2026 |
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