Dynamic trajectory planning for robotic knot tying

Bo Lu; Kar Hang Chu; Li Cheng

doi:10.1109/RCAR.2016.7784022

Dynamic trajectory planning for robotic knot tying

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

8 Citations (Scopus)

Abstract

Knot tying is an important component of surgery. When surgeons perform such operation via a tele-operated robotic system, the limited dexterity and field-of-view often poses technical challenges to the surgeons. In this paper, a new knot-tying method is proposed to enhance the quality of robotic knot-tying practice with low supervision. The trajectories of the instruments that can maintain the suture tension during the loop winding were formulated through the developed equations and MATLAB was employed to simulate the trajectory profiles. The grippers of the two instruments were then manipulated to grasp the suture and dynamically follow the pre-defined trajectories so that a suture knot can be constructed. Experiments were conducted and the results confirm that suture loops can be successfully winded around the instrument without suture slippage.

Original language	English
Title of host publication	2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
Publisher	IEEE
Pages	180-185
Number of pages	6
ISBN (Electronic)	9781467389594
DOIs	https://doi.org/10.1109/RCAR.2016.7784022
Publication status	Published - 14 Dec 2016
Event	2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 - Angkor Palace Resort and Spa, Siem Reap, Cambodia Duration: 6 Jun 2016 → 9 Jun 2016

Conference

Conference	2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
Country/Territory	Cambodia
City	Siem Reap
Period	6/06/16 → 9/06/16

Keywords

Knot Tying
Loop Suturing
Minimally Invasive Surgery
Robotic Surgery
Trajectory Planning

ASJC Scopus subject areas

Computer Networks and Communications
Computer Science Applications
Information Systems and Management
Hardware and Architecture

More information

10.1109/RCAR.2016.7784022

http://hdl.handle.net/10397/106557

Cite this

@inproceedings{17e2eac796da423ca3b997951a062f38,

title = "Dynamic trajectory planning for robotic knot tying",

abstract = "Knot tying is an important component of surgery. When surgeons perform such operation via a tele-operated robotic system, the limited dexterity and field-of-view often poses technical challenges to the surgeons. In this paper, a new knot-tying method is proposed to enhance the quality of robotic knot-tying practice with low supervision. The trajectories of the instruments that can maintain the suture tension during the loop winding were formulated through the developed equations and MATLAB was employed to simulate the trajectory profiles. The grippers of the two instruments were then manipulated to grasp the suture and dynamically follow the pre-defined trajectories so that a suture knot can be constructed. Experiments were conducted and the results confirm that suture loops can be successfully winded around the instrument without suture slippage.",

keywords = "Knot Tying, Loop Suturing, Minimally Invasive Surgery, Robotic Surgery, Trajectory Planning",

author = "Bo Lu and Chu, {Kar Hang} and Li Cheng",

year = "2016",

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doi = "10.1109/RCAR.2016.7784022",

language = "English",

pages = "180--185",

booktitle = "2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016",

publisher = "IEEE",

address = "United States",

note = "2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 ; Conference date: 06-06-2016 Through 09-06-2016",

}

TY - GEN

T1 - Dynamic trajectory planning for robotic knot tying

AU - Lu, Bo

AU - Chu, Kar Hang

AU - Cheng, Li

PY - 2016/12/14

Y1 - 2016/12/14

N2 - Knot tying is an important component of surgery. When surgeons perform such operation via a tele-operated robotic system, the limited dexterity and field-of-view often poses technical challenges to the surgeons. In this paper, a new knot-tying method is proposed to enhance the quality of robotic knot-tying practice with low supervision. The trajectories of the instruments that can maintain the suture tension during the loop winding were formulated through the developed equations and MATLAB was employed to simulate the trajectory profiles. The grippers of the two instruments were then manipulated to grasp the suture and dynamically follow the pre-defined trajectories so that a suture knot can be constructed. Experiments were conducted and the results confirm that suture loops can be successfully winded around the instrument without suture slippage.

AB - Knot tying is an important component of surgery. When surgeons perform such operation via a tele-operated robotic system, the limited dexterity and field-of-view often poses technical challenges to the surgeons. In this paper, a new knot-tying method is proposed to enhance the quality of robotic knot-tying practice with low supervision. The trajectories of the instruments that can maintain the suture tension during the loop winding were formulated through the developed equations and MATLAB was employed to simulate the trajectory profiles. The grippers of the two instruments were then manipulated to grasp the suture and dynamically follow the pre-defined trajectories so that a suture knot can be constructed. Experiments were conducted and the results confirm that suture loops can be successfully winded around the instrument without suture slippage.

KW - Knot Tying

KW - Loop Suturing

KW - Minimally Invasive Surgery

KW - Robotic Surgery

KW - Trajectory Planning

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U2 - 10.1109/RCAR.2016.7784022

DO - 10.1109/RCAR.2016.7784022

M3 - Conference article published in proceeding or book

SP - 180

EP - 185

BT - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016

PB - IEEE

T2 - 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016

Y2 - 6 June 2016 through 9 June 2016

ER -

Dynamic trajectory planning for robotic knot tying

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

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