Give me scissors: Collision-Free Dual-Arm Surgical Assistive Robot for Instrument Delivery
Xuejin Luo, Shiquan Sun, Runshi Zhang, Ruizhi Zhang, Junchen Wang

TL;DR
This paper introduces a collision-free dual-arm surgical robot that uses vision-language models and real-time obstacle perception to autonomously deliver instruments safely and efficiently in dynamic surgical environments.
Contribution
It presents a novel robotic system combining vision-language guidance and real-time obstacle avoidance for autonomous surgical instrument delivery.
Findings
Achieves 83.33% success rate in instrument delivery
Maintains collision-free and smooth robot movements
Effectively operates in dynamic, obstacle-rich environments
Abstract
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…
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Taxonomy
TopicsSoft Robotics and Applications · Robot Manipulation and Learning · Teleoperation and Haptic Systems
