arxivcs.RO2026-07-23
Human-Inspired Framework for Robotic Craniotomy: Integrating Multimodal Fusion and Adaptive Trajectory Adjustment
Renzhen Le, Xiao Zhang, Di Wu, Yuanyu Wei, Jiachen Zhu, Zhenzhi Ying, et al.
Manual craniotomy is a high-risk, skill-dependent procedure associated with surgeon fatigue and potential dural injury. While robotic approaches have improved safety, existing open-loop systems rely solely on preoperative images and cannot compensate for intraoperative registrati…