Key Takeaways & Executive Findings
- •• The multi-scale robotic system integrates macro and micro manipulators, enabling precise operations across different scales. • A hierarchical control architecture combining model-based and learning-based methods achieves adaptive motion planning and real-time obstacle avoidance. • Multi-modal sensing (visual, force, proximity) enhances situational awareness and surgical safety. • Experimental results show significant improvements in task completion time, accuracy, and consistency over conventional methods.
Abstract
Minimally invasive surgery (MIS) has revolutionized surgical practice by reducing patient trauma and recovery time. However, current robotic systems face limitations in dexterity, haptic feedback, and autonomous decision-making, particularly in complex anatomical environments. This paper presents a novel multi-scale robotic system designed to enhance surgical precision and autonomy. The system integrates a macro-scale robotic arm with a micro-scale continuum manipulator, enabling precise manipulation across different scales. A hierarchical control architecture combines model-based and learning-based approaches to achieve adaptive motion planning and real-time obstacle avoidance. The system also incorporates a multi-modal sensing framework that fuses visual, force, and proximity data to provide comprehensive situational awareness. Experimental validation in phantom and ex-vivo models demonstrates significant improvements in task completion time, accuracy, and consistency compared to conventional techniques. The system successfully performed complex tasks such as suturing and tissue dissection with reduced error rates. The results indicate that the proposed system can effectively enhance surgical performance, paving the way for more autonomous and intelligent surgical robots. Future work will focus on in-vivo trials and integration with augmented reality interfaces.
1. Introduction
Minimally invasive surgery (MIS) has become a cornerstone of modern surgical practice, offering patients reduced trauma, shorter hospital stays, and faster recovery times. The advent of robotic-assisted surgical systems, such as the da Vinci system, has further advanced MIS by providing enhanced dexterity, tremor filtration, and three-dimensional visualization. However, existing robotic systems still exhibit limitations in haptic feedback, autonomous decision-making, and adaptability to complex anatomical variations. These constraints often lead to steep learning curves for surgeons and may compromise surgical outcomes in challenging procedures.
To address these challenges, this paper introduces a novel multi-scale robotic system designed to augment surgical precision and autonomy. The system comprises a macro-scale robotic arm for gross manipulation and a micro-scale continuum manipulator for fine dissection and suturing. A hierarchical control architecture integrates model-based and learning-based algorithms to enable adaptive motion planning, collision avoidance, and semi-autonomous task execution. Additionally, a multi-modal sensing framework fuses visual, force, and proximity data to provide comprehensive situational awareness, thereby enhancing safety and efficiency. This work aims to bridge the gap between manual and autonomous robotic surgery, ultimately improving patient outcomes and expanding the scope of MIS.
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ZHANG Wei, LI Ming, WANG Fang, CHEN Jie, LIU Yang (2026). A Novel Multi-Scale Robotic System for Enhanced Surgical Precision and Autonomy in Minimally Invasive Procedures. Journal of Shanghai Jiao Tong University (Science) (上海交通大学学报). https://doi.org/10.16183/j.cnki.jsjtu.2026.058
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Frequently Asked Questions
What is the main innovation of this robotic system?
The main innovation lies in its multi-scale design, combining a macro-scale robotic arm with a micro-scale continuum manipulator, and a hierarchical control architecture that integrates model-based and learning-based methods for adaptive and autonomous surgical tasks.
How does the system improve surgical precision?
The system enhances precision through the micro-scale continuum manipulator, which offers high dexterity and accuracy, and the multi-modal sensing framework that provides real-time feedback for precise control.
What are the potential clinical applications?
The system is designed for minimally invasive procedures such as suturing, tissue dissection, and microsurgery, with potential applications in urology, gynecology, and cardiac surgery.
What are the next steps for this research?
Future work will focus on in-vivo trials, integration with augmented reality interfaces, and further enhancement of autonomous capabilities through advanced machine learning techniques.
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