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From Instrument-Mounted Demonstrations to In-Vivo Execution: Learning Bimanual Laparoscopic Appendectomy Without Robot-Collected Demonstrations
Most minimally invasive surgery is still performed with hand-held laparoscopic instruments, and the surgeon's instrument kinematics are lost when the operation ends; only the endoscope video is kept. This paper presents an end-to-end pipeline that captures this motion in the operating room and uses
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