[2603.02553] Give me scissors: Collision-Free Dual-Arm Surgical Assistive Robot for Instrument Delivery

Computer Science > Robotics arXiv:2603.02553 (cs) [Submitted on 3 Mar 2026] Title:Give me scissors: Collision-Free Dual-Arm Surgical Assistive Robot for Instrument Delivery Authors:Xuejin Luo, Shiquan Sun, Runshi Zhang, Ruizhi Zhang, Junchen Wang View a PDF of the paper titled Give me scissors: Collision-Free Dual-Arm Surgical Assistive Robot for Instrument Delivery, by Xuejin Luo and 4 other authors View PDF HTML (experimental) Abstract:During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks and enhance efficiency. Existing research on robotic scrub nurses relies on predefined paths for instrument delivery, which limits their generalizability and poses safety risks in dynamic environments. To address these challenges, we present a collision-free dual-arm surgical assistive robot capable of performing instrument delivery. A vision-language model is utilized to automatically generate the robot's grasping and delivery trajectories in a zero-shot manner based on surgeons' instructions. A real-time obstacle minimum distance perception method is proposed and integrated into a unified quadratic programming framework. This framework ensures reactive obstacle avoidance and self-collision prevention during the dual-arm robot's autonomous movement in dynamic environments. Extensive experimental validatio...