Robotic laparoscopic surgery has gained increasing attention in recent years for its potential to deliver more efficient and precise minimally invasive procedures. However, adoption of surgical robotic platforms remains largely confined to high-resource medical centers, exacerbating healthcare disparities in rural and low-resource regions. To close this gap, a range of solutions has been explored, from remote mentorship to fully remote telesurgery. Yet, the practical deployment of surgical robotic systems to underserved communities remains an unsolved challenge. Humanoid systems offer a promising path toward deployability, as they can directly operate in environments designed for humans without extensive infrastructure modifications -- including operating rooms. In this work, we introduce LapSurgie, the first humanoid-robot-based laparoscopic teleoperation framework. The system leverages an inverse-mapping strategy for manual-wristed laparoscopic instruments that abides to remote center-of-motion constraints, enabling precise hand-to-tool control of off-the-shelf surgical laparoscopic tools without additional setup requirements. A control console equipped with a stereo vision system provides real-time visual feedback. Finally, a comprehensive user study across platforms demonstrates the effectiveness of the proposed framework and provides initial evidence for the feasibility of deploying humanoid robots in laparoscopic procedures.

翻译：近年来，机器人腹腔镜手术因其有望实现更高效、更精准的微创手术而受到越来越多的关注。然而，手术机器人平台的采用在很大程度上仍局限于高资源医疗中心，加剧了农村和低资源地区的医疗资源不平等。为了弥合这一差距，人们探索了一系列解决方案，从远程指导到完全远程的遥外科手术。然而，将手术机器人系统实际部署到服务不足的社区仍然是一个尚未解决的挑战。人形系统为实现可部署性提供了一条有前景的路径，因为它们可以直接在为人设计的环境中运行，无需大规模的基础设施改造——包括手术室。在这项工作中，我们介绍了LapSurgie，这是第一个基于人形机器人的腹腔镜遥操作框架。该系统采用了一种针对手动腕式腹腔镜器械的逆映射策略，该策略遵循远程运动中心约束，从而能够对现成的外科腹腔镜工具进行精确的手到工具控制，而无需额外的设置要求。配备立体视觉系统的控制台可提供实时视觉反馈。最后，跨平台的综合用户研究证明了所提出框架的有效性，并为在腹腔镜手术中部署人形机器人的可行性提供了初步证据。