Liu Taoming, Çavuşoğlu M Cenk
Department of Electrical Engineering and Computer Science (EECS), Case Western Reserve University, Cleveland, OH, 44106 USA.
IEEE Int Conf Robot Autom. 2015 May;2015:2894-2900. doi: 10.1109/ICRA.2015.7139594.
This paper presents algorithms for optimal selection of needle grasp, for autonomous robotic execution of the minimally invasive surgical suturing task. In order to minimize the tissue trauma during the suturing motion, the best practices of needle path planning that are used by surgeons are applied for autonomous robotic surgical suturing tasks. Once an optimal needle trajectory in a well-defined suturing scenario is chosen, another critical issue for suturing is the choice of needle grasp for the robotic system. Inappropriate needle grasp increases operating time requiring multiple re-grasps to complete the desired task. The proposed methods use manipulability, dexterity and torque metrics for needle grasp selection. A simulation demonstrates the proposed methods and recommends a variety of grasps. Then a realistic demonstration compares the performances of the manipulator using different grasps.
本文提出了用于最佳选择持针方式的算法，以实现微创手术缝合任务的自主机器人执行。为了在缝合动作过程中使组织创伤最小化，外科医生所采用的最佳针路径规划方法被应用于自主机器人手术缝合任务。一旦在明确的缝合场景中选择了最佳针轨迹，缝合的另一个关键问题就是机器人系统的持针选择。不合适的持针方式会增加操作时间，需要多次重新持针才能完成所需任务。所提出的方法使用可操作性、灵巧性和扭矩指标来选择持针方式。一项模拟演示了所提出的方法并推荐了多种持针方式。然后一个实际演示比较了使用不同持针方式的操纵器的性能。
