An Open-Source Platform for Cooperative, Semi-Autonomous Robotic Surgery

Introduction: In this paper, we present and assess a proof of concept platform for semi-autonomous, cooperative robotic surgery. The platform is easily reproducible thanks to simple hardware components and open-source software. Moreover, the design accommodates open, soft tissue surgeries that recent advancements in surgical robotics do not generally focus on. Methods: The system is made up of an inexpensive robotic manipulator, a navigation system and a software interface. Accuracy measurement is performed on a rigid phantom that mimics the conditions of breast conserving surgery (BCS) as an example of a surgical use case. Results: The average target registration error (TRE) and fiducial registration error (FRE) of the system is within 1 mm. This indicates that the navigation system is sufficient for certain surgical applications such as BCS. The platform can also be easily replicated and used in a lab or home environment.