An Open-Source Robotics Research Platform for Autonomous Laparoscopic Surgery

This paper introduces an open-source, robot-agnostic surgical robotics platform featuring a deterministic, closed-form RCM controller and full-stack ROS integration, which achieves sub-millimeter precision and expert-level trajectory smoothness in autonomous laparoscopic tasks across phantom, ex vivo, and in vivo porcine models.

Ariel Rodriguez, Lorenzo Mazza, Martin Lelis, Rayan Younis, Sebastian Bodenstedt, Martin Wagner, Stefanie Speidel

Published Tue, 10 Ma
📖 1 min read☕ Coffee break read

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