In this study, we present an implementation strategy for a robot that
performs peg transfer tasks in Fundamentals of Laparoscopic Surgery (FLS) via
imitation learning, aimed at the development of an autonomous robot for
laparoscopic surgery. Robotic laparoscopic surgery presents two main
challenges: (1) the need to manipulate forceps using ports established on the
body surface as fulcrums, and (2) difficulty in perceiving depth information
when working with a monocular camera that displays its images on a monitor.
Especially, regarding issue (2), most prior research has assumed the
availability of depth images or models of a target to be operated on.
Therefore, in this study, we achieve more accurate imitation learning with only
monocular images by extracting motion constraints from one exemplary motion of
skilled operators, collecting data based on these constraints, and conducting
imitation learning based on the collected data. We implemented an overall
system using two Franka Emika Panda Robot Arms and validated its effectiveness.

通过模仿学习，在腹腔镜手术的基本技巧训练中，提出了一种机器人执行插销转移任务的实现策略，旨在开发用于腹腔镜手术的自主机器人。