[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-83308-en":3,"doc-seo-83308-105":30,"detail-sidebar-cat-0-en-105":91},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":21,"is_downloadable":21,"audit_status":21,"page_count":22,"language":23,"language_code":24,"site_id":25,"html_lang":24,"table_of_contents":26,"faqs":27,"seo_title":13,"seo_description":14,"update_tm":28,"read_time":29},83308,1374391974585,"Genevieve","https://ap-avatar.wpscdn.com/davatar_276721f389ce27ea32af1340a28f341c",8,"Research & Report","In vivo Feasibility Study of Humanoid Robots in Surgery","Recent advances in actuation, control, and learning are bringing humanoid robots toward real-world deployment, with healthcare facing urgent staffing shortages and rising care demand. While hospital automation often targets digital and logistical work, surgical assistance requires embodied mobility, manipulation, and safe interaction in human-designed environments. This study presents a systematic evaluation of contemporary humanoids for laparoscopic tasks, including a humanoid-based teleoperation framework tested via benchtop characterization, dry-lab user studies, and in-vivo porcine experiments, benchmarking feasibility and clinical readiness against established platforms.","arXiv :2607 .07972v 1 [ cs .RO] 8 Jul 2026  \nIn vivo feasibility study of humanoid robots in surgery  \nZekai Liang 1*, Nikita Thareja2 , Peihan Zhang 1 , Calvin Joyce 1 , Soofiyan Atar 1 , Florian Richter 1 , Garth Jacobsen2 , Shanglei Liu2 , Ryan Broderick2 , Michael Yip 1  \n1 Jacobs School of Engineering, UC San Diego, 9500 Gilman Drive, La Jolla, 92093, CA, USA.  \n2 Department of Surgery, UC San Diego, 9300 Campus Point Drive, La Jolla, 92037, CA, USA.  \n*Corresponding author(s). E-mail(s): [z9liang@ucsd.edu](z9liang@ucsd.edu) ; Contributing authors: [nthareja@health.ucsd.edu](nthareja@health.ucsd.edu) ; [pez004@ucsd.edu](pez004@ucsd.edu) ;  \n[cajoyce@ucsd.edu](cajoyce@ucsd.edu) ; [satar@ucsd.edu](satar@ucsd.edu) ; [frichter1995@gmail.com](frichter1995@gmail.com) ;  \n[gjacobsen@health.ucsd.edu](gjacobsen@health.ucsd.edu) ; [s5liu@health.ucsd.edu](s5liu@health.ucsd.edu) ; [rbroderick@health.ucsd.edu](rbroderick@health.ucsd.edu) ; [yip@ucsd.edu](yip@ucsd.edu) ;  \nAbstract  \nRecent advances across actuation, control, and learning have rapidly pushed humanoid robots from a distant vision toward near-term real-world deployment. Healthcare is a particularly pressing domain, where staffing shortages and increasing care demand are widening the gap between clinical workload and the availability of skilled labor. While current automation has largely focused on digital and logistical tasks, much of hospital work remains embodied, requiring mobility, manipulation, and safe interaction in human-designed environments.  \nHumanoid form factors offer unique potential, particularly when used to assist with surgical tasks. Traditionally, robotic systems for surgery are purpose-built platforms such as Intuitive Surgical’s da Vinci Surgical System, and it remains unclear how close current humanoid systems are to meeting the precision, control, and safety requirements of minimally invasive surgery. In this work, we present a systematic evaluation of contemporary humanoid technology for laparoscopic surgical tasks. We develop a humanoid-based laparoscopic teleoperation framework using general-purpose instruments and assess its capabilities through benchtop characterization, dry-lab user studies spanning diverse surgical experience levels, and in-vivo porcine studies. Across these evaluations, we quantify technical feasibility, task performance, and clinical readiness relative to established surgical platforms. Together, our study provides an evidencebased assessment of the current capabilities and limitations of humanoids for  \n1  \nsurgical applications, highlighting both their promise and the key technical challenges that must be addressed before clinical deployment. Project website:  \n[https://humanoid-surgeon.github.io/](https://humanoid-surgeon.github.io/) .  \n1 Introduction  \nOver the past few years, human-like robots capable of walking, manipulating objects, and operating in everyday environments have moved from a distant vision toward an imminent reality. Humanoids are especially well-positioned for real-world deployment because their human-like morphology is compatible with spaces, tools, and workflows designed for people. This shift has been driven by sustained advances across the humanoid technology stack, particularly in actuation, control, and learning. For example, modern humanoids increasingly adopt high-torque, low-impedance electric actuators for smooth and fast manipulation [1–4] . Meanwhile, on the software side, advances in whole-body model-predictive control [5–9], reinforcement-learningbased locomotion policies [10–12], and foundation-model driven perception and vision-language-action policies [13–17] have dramatically improved balance robustness, contact-rich manipulation, and autonomy in unstructured environments. Beyond technical advances, the rapid development of humanoid robotics is increasingly reflected in growing industrial momentum and early commercialization efforts [18, 19] . These trends suggest that humanoids may","cbCaigDUiPcsVcsV","https://ap.wps.com/l/cbCaigDUiPcsVcsV","pdf",4184110,3,1,34,"English","en",105,"# Abstract\n# Introduction","[{\"question\":\"Why are humanoid robots considered promising for healthcare and surgical tasks?\",\"answer\":\"Humanoid form factors can match human-designed spaces, tools, and workflows, enabling embodied mobility and dexterous manipulation. Healthcare also urgently needs assistance due to staffing shortages and increasing care demand.\"},{\"question\":\"What system and evaluation approach does the study propose for laparoscopic surgery tasks?\",\"answer\":\"The study develops a humanoid-based laparoscopic teleoperation framework using general-purpose instruments. Capabilities are assessed through benchtop characterization, dry-lab user studies across experience levels, and in-vivo porcine studies.\"},{\"question\":\"How does the study compare humanoid performance to established surgical platforms?\",\"answer\":\"It quantifies technical feasibility, task performance, and clinical readiness relative to established surgical platforms such as purpose-built systems. The goal is to identify both promise and limitations for eventual clinical deployment.\"}]",1784186654,86,{"code":4,"msg":31,"data":32},"ok",{"site_id":25,"language":24,"slug":33,"title":13,"keywords":34,"description":14,"schema_data":35,"social_meta":86,"head_meta":88,"extra_data":90,"updated_unix":28},"in-vivo-feasibility-study-of-humanoid-robots-in-surgery","",{"@graph":36,"@context":85},[37,53,68],{"@type":38,"itemListElement":39},"BreadcrumbList",[40,44,48,50],{"item":41,"name":42,"@type":43,"position":21},"https://docshare.wps.com","Home","ListItem",{"item":45,"name":46,"@type":43,"position":47},"https://docshare.wps.com/document/","Document",2,{"item":49,"name":12,"@type":43,"position":20},"https://docshare.wps.com/document/research-report/",{"item":51,"name":13,"@type":43,"position":52},"https://docshare.wps.com/document/in-vivo-feasibility-study-of-humanoid-robots-in-surgery/83308/",4,{"url":51,"name":13,"@type":54,"author":55,"headline":13,"publisher":57,"fileFormat":60,"inLanguage":24,"description":14,"dateModified":61,"datePublished":62,"encodingFormat":60,"isAccessibleForFree":63,"interactionStatistic":64},"DigitalDocument",{"name":9,"@type":56},"Person",{"url":41,"name":58,"@type":59},"DocShare","Organization","application/pdf","2026-07-24","2026-07-16",true,{"@type":65,"interactionType":66,"userInteractionCount":20},"InteractionCounter",{"@type":67},"ViewAction",{"@type":69,"mainEntity":70},"FAQPage",[71,77,81],{"name":72,"@type":73,"acceptedAnswer":74},"Why are humanoid robots considered promising for healthcare and surgical tasks?","Question",{"text":75,"@type":76},"Humanoid form factors can match human-designed spaces, tools, and workflows, enabling embodied mobility and dexterous manipulation. Healthcare also urgently needs assistance due to staffing shortages and increasing care demand.","Answer",{"name":78,"@type":73,"acceptedAnswer":79},"What system and evaluation approach does the study propose for laparoscopic surgery tasks?",{"text":80,"@type":76},"The study develops a humanoid-based laparoscopic teleoperation framework using general-purpose instruments. Capabilities are assessed through benchtop characterization, dry-lab user studies across experience levels, and in-vivo porcine studies.",{"name":82,"@type":73,"acceptedAnswer":83},"How does the study compare humanoid performance to established surgical platforms?",{"text":84,"@type":76},"It quantifies technical feasibility, task performance, and clinical readiness relative to established surgical platforms such as purpose-built systems. 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