A Safety-Enhanced Autonomous Resection Method for Precision Laparoscopic Surgery amid Tissue Deformation
Yudong Shi, Hangjie Mo, Xilin Xiao, Ruiming Duan, Ling Li, Xiaojian Li
Abstract
Resection of pathological tissue is a common procedure in surgical oncology for treating tumors. In robot-assisted electrosurgery, the use of predefined markers to guide autonomous robotic resection is gaining traction. Accurate tracking of these markers and minimizing electrocautery damage are critical for the safe and effective autonomous resection of tumors. This paper introduces a safety enhanced autonomous resection method for laparoscopic surgery, designed to mitigate the risks posed by tissue deformation during the resection process. Initially, we pre-plan the cutting path and design a switching strategy for navigation waypoints based on a preview tracking mechanism. Then, we develop a depth-fused navigation controller and a safe withdrawal motion controller. Next, an inertial tracking mechanism is established to evaluate tissue deformation over short periods. Finally, we develop a confidence generator to fuse the two controllers, ensuring that tissue deformation during the resection process does not cause additional electrocautery damage. Simulation and phantom experiments were conducted, demonstrating the effectiveness of our proposed method. This work represents a significant step toward achieving autonomous robotic resection.
BibTeX
@inproceedings{iros2025_asafetyenhanceda,
title = {A Safety-Enhanced Autonomous Resection Method for Precision Laparoscopic Surgery amid Tissue Deformation},
author = {Yudong Shi and Hangjie Mo and Xilin Xiao and Ruiming Duan and Ling Li and Xiaojian Li},
booktitle = {IROS 2025},
year = {2025}
}