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The penis serves a dual role in sexual reproduction and urination. It consists of three main regions: the glans penis, the body, and the root, each with distinct functions and unique anatomical features.
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A Confidence-Based Shared Control Strategy for Robotic Electrosurgery.

A Meza-Pantoja1, A C Lawson1, C C Caputo1

  • 1Department of Computer Science, University of North Carolina at Wilmington, Wilmington, NC 28403, USA.

IEEE Transactions on Medical Robotics and Bionics
|August 29, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a shared control strategy for robotic electrosurgery, blending autonomous precision with surgeon control. This innovative approach enhances surgical accuracy and significantly reduces the need for human intervention during procedures.

Keywords:
Surgical roboticselectrosurgeryshared control

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Area of Science:

  • Robotics
  • Surgical Technology
  • Biomedical Engineering

Background:

  • Robotic-assisted surgery (RAS) enhances patient outcomes through improved dexterity and vision.
  • While autonomous RAS offers precision, human oversight remains critical.
  • Current RAS systems are primarily surgeon-controlled, limiting potential benefits of automation.

Purpose of the Study:

  • To develop and evaluate a shared control strategy for robotic electrosurgery.
  • To assess the effectiveness of collaborative autonomous and manual control modes.
  • To reduce human-in-the-loop time in robotic procedures.

Main Methods:

  • Designed and implemented identification tests for autonomous and manual control.
  • Assessed the cost and effectiveness of switching between control modes.
  • Conducted precision cutting experiments on porcine tongue samples using the proposed strategy.

Main Results:

  • The shared control strategy achieved more accurate soft-tissue incisions than single-mode control.
  • Combining autonomous and manual control leverages the strengths of both.
  • Reduced human-in-the-loop time by 69.29%.

Conclusions:

  • Shared control in robotic electrosurgery offers superior precision and efficiency.
  • This collaborative approach optimizes human-robot interaction in surgical settings.
  • The developed strategy represents a significant advancement in RAS technology.