Humanoids for Robot-Assisted Surgery: Bimanual Base Placement and Tool-Mount Optimization via Capability Maps

arXiv:2609.33096 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Robot-Assisted Surgery — 6× in this paper
• Redundancy — 5× in this paper · explained in 2 episodes
• Decoupling — 2× in this paper · explained in 2 episodes
• Score Function — 2× in this paper · explained in 4 episodes
• APEX — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Clustering — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Point Clouds — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes

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