Problem
Research questions and friction points this paper is trying to address.
minimally invasive surgery
hand-held laparoscopic instruments
surgical robot policy
bimanual laparoscopic appendectomy
instrument kinematics
From Instrument-Mounted Demonstrations to In-Vivo Execution: Learning Bimanual Laparoscopic Appendectomy Without Robot-Collected Demonstrations
🤖 AI Summary
本文提出了一种从手持腹腔镜手术器械获取运动数据并训练机器人策略的方法，解决了微创手术中医生操作数据丢失的问题。
📝 Abstract
Most minimally invasive surgery is still performed with hand-held laparoscopic instruments, and the surgeon's instrument kinematics are lost when the operation ends; only the endoscope video is kept. This paper presents an end-to-end pipeline that captures this motion in the operating room and uses it to train a surgical robot policy, validated on live animals. We introduce a surgical instrument-state logger that mounts on the shaft of a standard laparoscopic instrument and recovers its pose and jaw state from an inertial sensor, a time-of-flight sensor and a Hall sensor, with no external camera or tracker. A data pipeline measures the latency of every sensor channel against a robot ground truth and aligns the channels before forming observation-action pairs. On these demonstrations we train a diffusion policy with a fine-tuned DINOv3 backbone, selecting its design by closed-loop rollouts in a physics simulator reconstructed from depth maps of an ex-vivo rabbit appendix. The policy is then retrained on 849 in-vivo demonstrations from four live rabbits and deployed on four additional live rabbits with electrosurgery armed. With the surgeon selecting the surgical phase, the policy completed the appendectomy in three of the four animals. The results show that demonstrations recorded from a surgeon's own instruments are sufficient to train, select and deploy a bimanual surgical policy in vivo. The robot serves only as the timing reference for sensor calibration and as the executor, and collects no demonstrations. Both demonstration corpora are released to support future surgical robot learning research.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Surgical Instrument-State Logger
End-to-End Pipeline
Diffusion Policy
Inertial Sensor
Time-of-Flight Sensor
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