Dynamic trajectory planning for robotic knot tying

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

3 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 languageEnglish
Title of host publication2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
PublisherIEEE
Pages180-185
Number of pages6
ISBN (Electronic)9781467389594
DOIs
Publication statusPublished - 14 Dec 2016
Event2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 - Angkor Palace Resort and Spa, Siem Reap, Cambodia
Duration: 6 Jun 20169 Jun 2016

Conference

Conference2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
Country/TerritoryCambodia
CitySiem Reap
Period6/06/169/06/16

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

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