Supervised Autonomous Bimanual Suction and Cauterization for Bleeding Control in Low Grade Splenic Trauma
Overview
This research presents a supervised autonomous bimanual robotic framework designed for injury cauterization in low-grade splenic trauma. The system integrates real-time bleeding segmentation, markerless tool keypoint tracking, and deep tool-tissue contact detection to coordinate two robotic arms for synchronized suction and cauterization. Evaluated on a novel, cannulated ex vivo splenic hemorrhage model, the system achieved an average bleeding surface cauterization coverage of 82.9% across seven distinct injuries, demonstrating the feasibility of using supervised autonomy for targeted coagulation.
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- arXiv Robotics — research abstractsSignalSupervised Autonomous Bimanual Suction and Cauterization for Bleeding Control in Low Grade Splenic Trauma
This research presents a supervised autonomous bimanual robotic framework designed for injury cauterization in low-grade splenic trauma. The system integrates real-time bleeding segmentation, markerless tool keypoint tracking, and deep tool-tissue contact detection to coordinate two robotic arms for synchronized suction and cauterization. Evaluated on a novel, cannulated ex vivo splenic hemorrhage model, the system achieved an average bleeding surface cauterization coverage of 82.9% across seven distinct injuries, demonstrating the feasibility of using supervised autonomy for targeted coagulation.
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