# Learning Bimanual Laparoscopic Appendectomy Without Robot-Collected Demonstrations, Validated on Live Animals

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/zzsscdekiag65zxsmskewhq74
- Original: https://arxiv.org/abs/2609.25625

## Summary

The paper proposes an end-to-end pipeline that uses an instrument-state logger mounted on the shaft of a standard laparoscopic instrument (combining inertial, time-of-flight, and Hall sensors, with no external camera or tracker) to capture the instrument pose and jaw state during a surgeon's operation, which is then used to train a surgical robot policy and validated on live animals.