Surgical Master Console Using General-Purpose Robot Arms and a Separable Articulated Distal Interface: Porcine In-Vivo Evaluation

arXiv:2609.37455 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Code: https://github.com/mskim1309/ICRA-2027-Master-Console

Terminology

• Adaptation — 3× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Aperture — 1× in this paper · explained in 1 episode
• Digital Twin — 1× in this paper · explained in 5 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• An Open-Source Robotics Research Platform for Autonomous Laparoscopic Surgery
• Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics

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