A novel vision guided knot-tying method for autonomous robotic surgery

IEEE International Conference on Automation Science and Engineering

Volumn , Issue , 2014, Pages 504-508

  Chow, Der Lin ^a   Jackson, Russell C ^a   Çavuşoʇlu, M Cenk ^a   Newman, Wyatt ^a  

^a CASE WESTERN RESERVE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ROBOTICS; STEREO IMAGE PROCESSING; SURGERY; VISUAL SERVOING;

3D POSITIONS; AUTONOMOUS ROBOTICS; HUMAN PERFORMANCE; KNOT-TYING; MINIMALLY INVASIVE SURGERY; ROBOT MOTION; STEREO CAMERAS; SUPERVISORY CONTROL;

ROBOTIC SURGERY;

EID: 84907946127     PISSN: 21618070     EISSN: 21618089     Source Type: Conference Proceeding    
DOI: 10.1109/CoASE.2014.6899373     Document Type: Conference Paper

References (13)

1. Adrian Park, Gyusung Lee, F Jacob Seagull, Nora Meenaghan and David Dexter, "Patients Benefit while Surgeons Suffer: An Impending Epidemic", Journal of the American College of Surgeons, Vol. 210, Issue 3, March 2010, pp 306 313.
2. Surgical Knot Tying Manual, 3rd edition by Covidien, www.covidien.com
3. Khurshid A. Guru, Mohd Raashid Sheikh, Syed J. Raza, Andrew P. Stegmann, John Nyquist, "Novel Knot Tying Technique for Robot-Assisted Surgery", The Canadian Journal of Urology, 19(4), August, 2012, pp.6401-6403.
4. Hynes, P.; Dodds, G.I.; Wilkinson, A.J. "Uncalibrated Visual-Servoing of a Dual-Arm Robot for MIS Suturing", Proceeding of The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. Pisa, Italy, Feb. 20, 2006, pp.420-425.
5. Xiao Jing-Jing, Yang Yang and Wang Zhe, "Trajectory Planning for Knot-Tying Manipulation in Surgery", Journal of Applied Mechanics and Materials, July 2012, Vols. 190-191, pp.752-757.
6. Shuxin Wang, Huijuan Wang and Longwang Yue, "A Novel Knot-Tying Approach for Minimally Invasive Surgical Robot Systems", The International Journal of Medical Robotics and Computer Assisted Surgery. 2008 4:pp. 268-276.
7. Hyosig Kang and John T. Wen, "Robotic Assistants Aid Surgeons during Minimally Invasive Procedures", IEEE Engineering in Medicine and Biology Magazine, January/February 2001, Volume 20, Issue 1, pp.94-104.
8. Hyosig Kang and John T. Wen, "Autonomous Suturing using Minimally Invasive Surgical Robot", Proceedings of the 2000 IEEE International Conference on Control Applications, Anchorage, Alaska, USA. September, 2000, pp.742-747.
9. Der-Lin Chow, Wyatt Newman, "Improved Knot-Tying Methods for Autonomous Robot Surgery", Proceedings of the 2013 IEEE International Conference on Automation Science and Engineering (CASE), Madison, Wisconsin, USA. August, 2013, pp.461-465.
10. Morris, D.M. and Hebbar, R. and Newman, W.S., "Force guided assemblies using a novel parallel manipulator", Proceedings of 2001 ICRA. IEEE International Conference on Robotics and Automation, Vol.1, pp.325-330.
11. Taoming Liu, "Design and prototyping of a three degrees of freedom robotic wrist mechanism for a robotic surgery system", Master0s thesis, Case Western Reserve University, January 2011.
12. Simulab Corporation, 1600 West Armory Way, Seattle, WA 98119 USA.
13. Richard Sarle, Ashutosh Tewari, Alok Shrivastava, James Peabody and Mani Menon, "Surgical Robotics and Laparoscopic Training Drills", Journal of Endourology, Vol. 18, Issue 1, February 2004, pp.63-67.