Traditional telesurgery relies on the surgeon's full control of the robot on the patient's side, which tends to increase surgeon fatigue and may reduce the efficiency of the operation. This paper introduces a Robotic Partner (RP) to facilitate intuitive bimanual telesurgery, aiming at reducing the surgeon workload and enhancing surgeon-assisted capability. An interval type-2 polynomial fuzzy-model-based learning algorithm is employed to extract expert domain knowledge from surgeons and reflect environmental interaction information. Based on this, a bimanual shared control is developed to interact with the other robot teleoperated by the surgeon, understanding their control and providing assistance. As prior information of the environment model is not required, it reduces reliance on force sensors in control design. Experimental results on the DaVinci Surgical System show that the RP could assist peg-transfer tasks and reduce the surgeon's workload by 51\% in force-sensor-free scenarios.

翻译：传统远程外科手术依靠外科医生对病人的机器人的全面控制,这往往会增加外科疲劳,降低手术效率。本文介绍一个机器人伙伴(RP),以促进直觉双体外科外科手术,目的是减少外科手术工作量,提高外科医生辅助能力。使用一种间歇型2型多式烟雾模型学习算法,从外科医生那里提取专业领域知识,反映环境互动信息。在此基础上,开发了双体共享控制,与外科医生操作的另一机器人进行互动,了解他们的控制和提供援助。由于以前不需要环境模型的信息,它减少了对控制设计中的武力传感器的依赖。DaVinci外科外科系统的实验结果显示,RP可以帮助外科手术转移任务,并在无强制传感器的情况下将外科医生的工作量减少51 ⁇ 。