SOURCE-LINKED INTELLIGENCE

Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

Autonomous soft-tissue cancer surgery has been limited to interventions on organ surfaces, because current systems cannot perceive and adapt to anatomy once it deforms or is cut. We introduce the first vision-guided autonomous system capable of performing complete tumor resections for partial nephrectomy. Our system integrates conditional occupancy networks, trained entirely in a physics-based simulation, that infer full 3-D anatomy (tumor, margin tissue, and kidney) from single-view partial point clouds. These occupancy networks maintain intraoperative tracking even as tissue is cut and defor

Read original source ↗ Open in workspace

recordType

paper

region

Global