# Give me scissors: Collision-Free Dual-Arm Surgical Assistive Robot for Instrument Delivery

arXiv: https://arxiv.org/abs/2603.02553 · HTML: https://mlsanity.com/paper/2603.02553/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 30 references that are in the map.
- First posted on arXiv 3 Mar 2026.

## Builds on (most cited first, 11 of 11)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [MediaPipe: A Framework for Building Perception Pipelines](https://mlsanity.com/paper/1906.08172/) (2019)
- [ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation](https://mlsanity.com/paper/2409.01652/) (2024)
- [Physically Grounded Vision-Language Models for Robotic Manipulation](https://mlsanity.com/paper/2309.02561/) (2023)
- [Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis](https://mlsanity.com/paper/2312.08782/) (2023)
- [CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance](https://mlsanity.com/paper/2102.13187/) (2021)
- [Collision Avoidance for Convex Primitives via Differentiable Optimization Based High-Order Control Barrier Functions](https://mlsanity.com/paper/2410.19159/) (2024)
- [DawnIK: Decentralized Collision-Aware Inverse Kinematics Solver for Heterogeneous Multi-Arm Systems](https://mlsanity.com/paper/2307.12750/) (2023)
- [T-Rex: Task-Adaptive Spatial Representation Extraction for Robotic Manipulation with Vision-Language Models](https://mlsanity.com/paper/2506.19498/) (2025)

## Abstract (arXiv)

During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks and enhance efficiency. Existing research on robotic scrub nurses relies on predefined paths for instrument delivery, which limits their generalizability and poses safety risks in dynamic environments. To address these challenges, we present a collision-free dual-arm surgical assistive robot capable of performing instrument delivery. A vision-language model is utilized to automatically generate the robot's grasping and delivery trajectories in a zero-shot manner based on surgeons' instructions. A real-time obstacle minimum distance perception method is proposed and integrated into a unified quadratic programming framework. This framework ensures reactive obstacle avoidance and self-collision prevention during the dual-arm robot's autonomous movement in dynamic environments. Extensive experimental validations demonstrate that the proposed robotic system achieves an 83.33% success rate in surgical instrument delivery while maintaining smooth, collision-free movement throughout all trials. The project page and source code are available at https://give-me-scissors.github.io/.