Needle path planning for autonomous robotic surgical suturing
This paper develops a path plan for suture needles used with solid tissue volumes in endoscopic surgery. The path trajectory is based on the best practices that are used by surgeons. The path attempts to minimize the interaction forces between the tissue and the needle. Using surgical guides as a ba...
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| Veröffentlicht in: | 2013 IEEE International Conference on Robotics and Automation 2013-12, Vol.2013, p.1669-1675 |
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| container_title | 2013 IEEE International Conference on Robotics and Automation |
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| creator | Jackson, Russell C. Cavusoglu, M. Cenk |
| description | This paper develops a path plan for suture needles used with solid tissue volumes in endoscopic surgery. The path trajectory is based on the best practices that are used by surgeons. The path attempts to minimize the interaction forces between the tissue and the needle. Using surgical guides as a basis, two different techniques for driving a suture needle are developed. The two techniques are compared in hardware experiments by robotically driving the suture needle using both of the motion plans. |
| doi_str_mv | 10.1109/ICRA.2013.6630794 |
| format | Article |
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Cenk</creatorcontrib><title>Needle path planning for autonomous robotic surgical suturing</title><title>2013 IEEE International Conference on Robotics and Automation</title><addtitle>ICRA</addtitle><addtitle>IEEE Int Conf Robot Autom</addtitle><description>This paper develops a path plan for suture needles used with solid tissue volumes in endoscopic surgery. The path trajectory is based on the best practices that are used by surgeons. The path attempts to minimize the interaction forces between the tissue and the needle. Using surgical guides as a basis, two different techniques for driving a suture needle are developed. The two techniques are compared in hardware experiments by robotically driving the suture needle using both of the motion plans.</description><subject>Force</subject><subject>Grippers</subject><subject>Needles</subject><subject>Robot sensing systems</subject><subject>Stress</subject><subject>Vectors</subject><issn>1050-4729</issn><issn>2152-4092</issn><issn>2577-087X</issn><isbn>1467356417</isbn><isbn>9781467356411</isbn><isbn>9781467356435</isbn><isbn>1467356433</isbn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2013</creationdate><recordtype>article</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9kMlKA0EYhNsNM8Y8gAgyLzDj33v3wUMILoGgIAreQk_3P3FkNmY5-PYOJPFUBfVRUEXIDYWUUrD369X7MmVAeaoUB23FCVlYbahQmksluDwlEZNaJ2D01xm5OgZUn5OIgoREaGZnZNH3PwDAlOHCqksyY2KyEiAiD6-IocS4dcN33Jaurot6F-dNF7txaOqmasY-7pqsGQof92O3K7wrJzOM3QRek4vclT0uDjonn0-PH6uXZPP2vF4tN0nBrRyS3CtqeKYzC8ZbJ4Q3JoCX1hrPUYJU3iD3OUph8oBZYNMKZoNUuQKBgc_J3b63HbMKw7btisp1v9vjjgm43QMFIv7Hh9f4H5hEWaI</recordid><startdate>20131231</startdate><enddate>20131231</enddate><creator>Jackson, Russell C.</creator><creator>Cavusoglu, M. 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| ispartof | 2013 IEEE International Conference on Robotics and Automation, 2013-12, Vol.2013, p.1669-1675 |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Force Grippers Needles Robot sensing systems Stress Vectors |
| title | Needle path planning for autonomous robotic surgical suturing |
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