# A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces

arXiv: https://arxiv.org/abs/1809.07907 · HTML: https://mlsanity.com/paper/1809.07907/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Sep 2018.

## Built on by (most cited first, 1 of 1)

- [MBAPose: Mask and Bounding-Box Aware Pose Estimation of Surgical Instruments with Photorealistic Domain Randomization](https://mlsanity.com/paper/2103.08105/) (2021)

## Abstract (arXiv)

In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more challenging scenarios, such as pediatric surgery and microsurgery. However, the prevalence of case-specific solutions, particularly those focused on non-redundant robots, reduces the reproducibility of the initial results in more challenging scenarios. In this paper, we propose a general framework for the control of surgical robotics in constrained workspaces under teleoperation, regardless of the robot geometry. Our technique is divided into a slave-side constrained optimization algorithm, which provides virtual fixtures, and with Cartesian impedance on the master side to provide force feedback. Experiments with two robotic systems, one redundant and one non-redundant, show that smooth teleoperation can be achieved in adult laparoscopy and infant surgery.