الملخص
Autonomous soft-tissue cancer surgery has been limited to interventions on organ surfaces, because current systems cannot perceive and adapt to anatomy once it deforms or is cut. We introduce the first vision-guided autonomous system capable of performing complete tumor resections for partial nephrectomy. Our system integrates conditional occupancy networks, trained entirely in a physics-based simulation, that infer full 3-D anatomy (tumor, margin tissue, and kidney) from single-view partial point clouds. These occupancy networks maintain intraoperative tracking even as tissue is cut and deformed, enabling adaptive planning and execution. The surgical platform combines a depth camera for capturing surface point clouds, dual robotic arms for electrosurgical cutting and vacuum-based tissue manipulation, and an autonomous control strategy for tumor resection. In patient-derived hydrogel phantoms under an open partial nephrectomy setting, the robot performed eight consecutive autonomous tumor resections comprising 77 electrosurgical cuts, with all cuts achieving negative surgical margins and 1.61 $\pm$ 0.48 mm mean absolute margin error. This work demonstrates, for the first time, a foundation for supervised autonomous closed-loop, imaging-driven, margin-negative tumor removal in phantoms.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Kilmer, E., Henrich, P., Ge, J., Scheikl, P. M., Connolly, L., Lokeshwar, S. D., Chen, J., Opfermann, J. D., Kumar, K., Shepard, L., Ghazi, A., Singla, N., Cha, R. J., Cleary, K., Mathis-Ullrich, F., & Krieger, A. (2026). Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy. https://omanscience.com/ar/articles/occupancy-network-guided-autonomous-robotic-partial-nephrectomy
MLA 9
Kilmer, Ethan, et al. "Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy." https://omanscience.com/ar/articles/occupancy-network-guided-autonomous-robotic-partial-nephrectomy.
شيكاغو (المؤلف–التاريخ)
Kilmer, Ethan, Pit Henrich, Jiawei Ge, Paul M. Scheikl, Laura Connolly, Soum D. Lokeshwar, Joseph Chen, Justin D. Opfermann, Kaitlyn Kumar, Lauren Shepard, Ahmed Ghazi, Nirmish Singla, Richard J. Cha, Kevin Cleary, Franziska Mathis-Ullrich, and Axel Krieger. 2026. "Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy." https://omanscience.com/ar/articles/occupancy-network-guided-autonomous-robotic-partial-nephrectomy.
هارفارد
Kilmer, E., Henrich, P., Ge, J., Scheikl, P. M., Connolly, L., Lokeshwar, S. D., Chen, J., Opfermann, J. D., Kumar, K., Shepard, L., Ghazi, A., Singla, N., Cha, R. J., Cleary, K., Mathis-Ullrich, F. and Krieger, A. (2026) 'Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy', Available at: https://omanscience.com/ar/articles/occupancy-network-guided-autonomous-robotic-partial-nephrectomy.
فانكوفر
Kilmer E, Henrich P, Ge J, Scheikl PM, Connolly L, Lokeshwar SD, et al. Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy. https://omanscience.com/ar/articles/occupancy-network-guided-autonomous-robotic-partial-nephrectomy
IEEE
E. Kilmer, P. Henrich, J. Ge, P. M. Scheikl, L. Connolly, S. D. Lokeshwar, J. Chen, J. D. Opfermann, K. Kumar, L. Shepard, A. Ghazi, N. Singla, R. J. Cha, K. Cleary, F. Mathis-Ullrich, and A. Krieger, "Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy," https://omanscience.com/ar/articles/occupancy-network-guided-autonomous-robotic-partial-nephrectomy.