自主机器人手术缝合的针路径规划
Needle Path Planning for Autonomous Robotic Surgical Suturing.
作者信息
Jackson Russell C, Cavuşoğlu M Cenk
机构信息
The department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH.
出版信息
IEEE Int Conf Robot Autom. 2013 Dec 31;2013:1669-1675. doi: 10.1109/ICRA.2013.6630794.
Abstract
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.
摘要
本文针对内镜手术中用于实体组织的缝合针制定了一条路径规划。该路径轨迹基于外科医生所采用的最佳实践。此路径旨在尽量减少组织与针之间的相互作用力。以手术导板为基础，开发了两种驱动缝合针的不同技术。通过使用这两种运动规划以机器人方式驱动缝合针，在硬件实验中对这两种技术进行了比较。
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