A Systematic Review of Task Automation in Surgical Robotics

摘要

The physically challenging and time-consuming nature of robotic minimally invasive surgery (RMIS) presents an incentive for automation of routine surgical tasks. We perform a comprehensive review of the current state of the art in the automation of laparoscopic surgical robots for the tasks of suturing, retraction, incision/dissection/resection, palpation, and debridement. Particular attention is paid to the various performance metrics employed by different studies, and methodological accommodations that differ from operating-room conditions. We conclude that the field remains in an exploratory state and rigorous definitions of success or performance in a given subtask have yet to materialize.