AutoSurg-Research and Implementation of Automatic Target Resection Key Technologies Via Toumai Surgical Robot System
Jiayin Wang, Lei Jiang, Zhijian Li, Wei Ma, Yanyan Qiao, Weidong Zhao · 2023
Targeted resection is a surgical operation that occurs at a high frequency in laparoscopic surgery. By automating such surgical tasks, the quality of surgery can be improved and the cognitive burden of doctors can be reduced. This study is based on the Toumai surgical robot system, which locates the target position and instrument position in real time by visual key point localization algorithm and depth localization algorithm, designs a state machine applicable to the automatic resection operation, and plans the motion trajectory of the robotic arm end effector in real time to finally complete the resection of the target point. The experimental results show that this automatic surgical robot system is accurate and efficient.