外观
论文arXiv 2609.330961 个月前
用于机器人辅助手术的人形机器人：通过能力图进行双臂基座放置与工具安装优化
原文链接：Humanoids for Robot-Assisted Surgery: Bimanual Base Placement and Tool-Mount Optimization via Capability Maps（arXiv 2609.33096 · 发布日期：2026-09-27）
Humanoids for Robot-Assisted Surgery: Bimanual Base Placement and Tool-Mount Optimization via Capability Maps
针对人形机器人腹腔镜手术运动学需求，提出能力图设置优化，并在三类普外科手术中验证。
核心要点
- 关注当代人形机器人能否满足机器人辅助腹腔镜手术的运动学需求。
- 框架基于能力图联合优化基座位置和工具安装方向，以提升双臂可达性。
- 在三种人形平台和三类普外科手术上评估，联合优化优于基座优化和启发式基线。
- 胆囊切除和腹股沟疝修补可达性接近90%，袖状胃切除覆盖明显较低。
验证范围与局限：验证限于三种人形平台在胆囊切除、腹股沟疝修补和袖状胃切除工作空间可达性分析。
英文摘要 (Abstract)
Rapid advances in humanoid robotics have motivated growing interest in the application of humanoids for healthcare and clinical tasks. However, it remains unclear how close contemporary humanoids are to meeting the kinematic demands of robot-assisted laparoscopic surgery. In this work, we address the question of optimal robot positioning through a quantitative analysis of workspace and robot setup configurations. We present a capability-map-based robot setup framework that optimizes humanoid base placement and tool mounting orientation to maximize bimanual humanoid reachability while accounting for tool-tip kinematics and remote-center-of-motion (RCM) constraints. We evaluate three humanoid platforms spanning different body dimensions and kinematic redundancy on workspace reachability for three representative general surgery procedures: cholecystectomy, inguinal hernia repair, and sleeve gastrectomy. The proposed joint optimization of base placement and tool mounting consistently outperforms base-only optimization and heuristic baselines. For cholecystectomy and inguinal hernia repair, which are characterized by relatively small and minimally overlapping workspaces, humanoid reachability approached 90%. For the larger, overlapping multi-port arm workspace of sleeve gastrectomy, humanoids yield substantially lower coverage. These results quantify the near-term promise of humanoids for selected laparoscopic procedures and clarify key limitations that must be addressed for broader deployment.
作者：Peihan Zhang, Zekai Liang, Florian Richter, Nikita S. Thareja, Ryan C. Broderick, Shanglei Liu, Michael C. Yip
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