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. Author manuscript; available in PMC: 2022 Jul 26.
Published in final edited form as: Sci Robot. 2022 Jan 26;7(62):eabj2908. doi: 10.1126/scirobotics.abj2908

Fig. 1. Enhanced autonomous laparoscopic soft tissue surgery.

Fig. 1.

(A) The components of the Smart Tissue Autonomous Robot (STAR) system including medical robotic arms, actuated surgical tools, and dual-channel NIR and 3D structured light endoscopic imaging system. (B) Control architecture of the enhanced autonomous control strategy for STAR.