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Updated: Feb 2, 2026
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Robotics in Surgery: A Modular Robotic Platform Driven Gastric Wedge Resection
Published on: February 7, 2025
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Organ-mounted robot localization via function approximation
Nathan A Wood1, David Schwartzman2, Michael J Passineau3
1The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania.
Summary
This study introduces a new method for precise robot localization during minimally invasive surgery, crucial for procedures on mobile organs like the heart. The technique offers instantaneous and accurate positioning, improving surgical navigation.
Area of Science:
- Robotics in Medicine
- Minimally Invasive Surgery
- Medical Imaging and Localization
Background:
- Organ-mounted robots assist in minimally invasive interventions by compensating for physiological motion, particularly beneficial for beating heart surgery.
- Accurate localization is critical but challenged by heartbeat and respiratory motion.
- Existing localization methods require multiple respiratory cycles for convergence.
Purpose of the Study:
- To present a general and rapid localization technique for organ-mounted robots.
- To improve the accuracy and speed of robot localization during interventions on mobile organs.
Main Methods:
- Function approximation using radial basis function (RBF) interpolation.
- Development of a general localization technique applicable to organ-mounted robotic platforms.
Main Results:
- Achieved mean localization accuracy of 1.25 mm with a 95% confidence interval of 0.22 mm in a porcine model.
- Demonstrated instantaneous estimation of robot location.
Conclusions:
- Radial basis function approximation offers a highly accurate and instantaneous solution for robot localization in organ-mounted applications.
- This technique enhances the feasibility and precision of robotic interventions on mobile organs.
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