IEEE Trans Biomed Eng. 2021 Apr;68(4):1262-1272. doi: 10.1109/TBME.2020.3024632. Epub 2021 Mar 18.
In single-port access surgeries, robot size is crucial due to the limited workspace. Thus, a robot may be designed under-actuated. Suturing, in contrast, is a complicated task and requires full actuation. This study aims to overcome this shortcoming by implementing an optimization-based algorithm for autonomous suturing for an under-actuated robot. The proposed algorithm approximates the ideal suturing trajectory by slightly reorienting the needle while deviating as little as possible from the ideal, full degree-of-freedom suturing case. The deviation of the path taken by a custom robot with respect to the ideal trajectory varies depending on the suturing starting location within the workspace as well as the needle size. A quantitative analysis reveals that in 13% of the investigated workspace, the accumulative deviation was less than 10 mm. In the remaining workspace, the accumulative deviation was less than 30 mm. Likewise, the accumulative deviation of a needle with a radius of 10 mm was 2.2 mm as opposed to 8 mm when the radius was 20 mm. The optimization-based algorithm maximized the accuracy of a four-DOF robot to perform a path-constrained trajectory and illustrates the accuracy-workspace correlation.
在单端口手术中，由于工作空间有限，机器人的尺寸至关重要。因此，机器人可能会被设计为欠驱动。相比之下，缝合是一项复杂的任务，需要完全驱动。本研究旨在通过为欠驱动机器人实施基于优化的自主缝合算法来克服这一缺点。所提出的算法通过在偏离理想全自由度缝合情况的同时稍微重新定向针，来近似理想的缝合轨迹。定制机器人所走路径相对于理想轨迹的偏差取决于工作空间内的缝合起始位置以及针的大小。定量分析表明，在所研究的工作空间的 13%中，累积偏差小于 10 毫米。在剩余的工作空间中，累积偏差小于 30 毫米。同样，当半径为 20 毫米时，半径为 10 毫米的针的累积偏差为 2.2 毫米，而当半径为 20 毫米时，累积偏差为 8 毫米。基于优化的算法最大化了四自由度机器人执行路径受限轨迹的准确性，并说明了准确性与工作空间的相关性。
