## 1 Introduction
These factors are related not only to the patient but also to the medical staff regarding surgical dexterity, ergonomics, and ease of execution. In open surgery, almost all outcomes depend largely on the visual and tactile abilities of medical staff. These abilities are, in short, advantageously replaced by less invasive laparoscopic or robotic technologies. The difference between the latter two lies mainly in the way of replacing open surgery and the corresponding ease of execution by staff. These abilities or their substitutes are relatively situation-specific considering the patient, the staff, the operational complexity, and the cost. Thus, despite the clear superiority of robotic technology, laparoscopy and even open surgery have their places in many specific situations. The prospect of safe, autonomous MI surgery with technology-substituted tactile and visual skills, all under the control of staff (staff in the loop), was a dream of the past and became achievable with recent digital intelligence. This ensures the well-being of patients as well as ease and added value for staff. As abovementioned, surgery interventions aim at large to be MI and accurately targeted, thus preserving healthful tissues adjacent to the suffering spots. In addition, staff are expected to provide individualized treatment to patients, taking into account factors such as genetic characteristics, lifestyle, environment and response to medical procedures. In addition to the benefits of MI intervention, the precise position and visual ability could be substituted by laparoscopic technology [7; 8; 13], robotics [9; 10; 11], or advantageously reliable image-assisted robotics [14; 15; 16; 17]. In fact, image-assisted robotic surgery seems to be a logical descendant of laparoscopic and robotic surgeries with an obvious enhancement in skill as well as in surgeon resources, adopting a more comfortable position for the whole procedure interval. In addition, such robotically image-assisted intervention could be managed as autonomous surgery as mentioned earlier. Moreover, such an autonomous procedure could be employed for the planning and/or training of staff by using phantoms representing the real living tissue body portion of concern. In fact, such an autonomous procedure is mainly more advocated for further complex surgeries. Additionally, such intricacy that can be faced in foremost surgical interventions [18; 19; 20; 21] or the restricted delivery of drugs [22; 23; 24] necessitates activities in a constrained zone, to preserve healthful tissues contiguous the disturbed region. In such autonomous robotic-controlled interventions, several challenges may be met, associated with the supervision of uncertainty, complexity, and unforeseen hazardous occurrences. Such difficulties can be treated by exploiting methods of control centered on paired real-virtual matching [17; 25]. Moreover, the personalized treatment as well as the interventional specifications mentioned above could be predetermined by a pair of corresponding real and virtual phantoms, allowing the confirmation of the intervention outcome. In general, such adapted management could be autonomous [26], assisted by staff arbitration. Moreover, in perspective, it can include the real patient with the staff in the loop. This contribution aims to highlight the role of innovative concepts of the moment in improving the conditions of patients, staff, and interventional results in the surgical practices of open, laparoscopic, robotic, and image-guided robotic surgeries. It also aims to illustrate the roles and needs of each of these types of surgery today. These analyses take into account the precision of the intervention, the safety and the degrees of invasive and autonomous characteristics of the intervention, as well as the comfort of the staff and healing conditions. The exploitation hence orients and focuses on image-guided interventions and their practice in staff training, preparation, and implementation of a possible autonomous intervention.