humanoid机器人实现快速器械交换，提升微创手术操作效率
A Rapid Instrument Exchange System for Humanoid Robots in Minimally Invasive Surgery
- 基于单轴柔顺对接与环境约束释放的低延迟交换机制
- 新手经短训后器械装卸性能显著提升，操作鲁棒性强
- 适配临床狭小空间，为类人机器人手术提供可行性验证
类人机器人在微创手术（MIS）中展现出巨大潜力。与专用多臂手术平台不同，类人机器人固有的双臂结构需要高效的器械交换能力，以模拟外科医生手动换器械的自然流程。为此，本文提出一种沉浸式遥操作快速器械交换系统。该系统采用基于单轴柔顺对接和环境约束释放的低延迟机制，并集成通过头戴式显示器（HMD）实现的实时第一人称视角（FPV）感知，显著降低了对接过程中的操作复杂性和认知负荷。专家与新手的对比评估表明，系统具有高操作鲁棒性且学习曲线迅速收敛；经过短暂训练，新手在器械装配与拆卸任务中的表现显著提升。尽管远距离空间对齐仍存在耗时和协作稳定性挑战，本研究成功验证了类人机器人在受限临床环境中实现稳定器械交换的技术可行性。
原文摘要 · Abstract (English)
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 significantly reduces operational complexity and cognitive load during the docking process. Comparative evaluations between experts and novices demonstrate high operational robustness and a rapidly converging learning curve; novice performance in instrument attachment and detachment improved substantially after brief training. While long-distance spatial alignment still presents challenges in time cost and collaborative stability, this study successfully validates the technical feasibility of humanoid robots executing stable instrument exchanges within constrained clinical environments.
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