Leonard Simon, Opfermann Justin, Uebele Nicholas, Carroll Lydia, Walter Ryan, Bayne Christopher, Ge Jiawei, Krieger Axel
Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA.
IEEE Trans Med Robot Bionics. 2021 Aug;3(3):762-772. doi: 10.1109/tmrb.2021.3097415. Epub 2021 Jul 15.
This paper presents a dual-arm suturing robot. We extend the Smart Tissue Autonomous Robot (STAR) with a second robot manipulator, whose purpose is to manage loose suture thread, a task that was previously executed by a human assistant. We also introduce novel near-infrared fluorescent (NIRF) sutures that are automatically segmented and delimit the boundaries of the suturing task. During ex-vivo experiments of porcine models, our results demonstrate that this new system is capable of outperforming human surgeons in all but one metric for the task of vaginal cuff closure (porcine model) and is more consistent in every aspect of the task. We also present results to demonstrate that the system can perform a vaginal cuff closure during an in-vivo experiment (porcine model).
本文介绍了一种双臂缝合机器人。我们在智能组织自主机器人（STAR）的基础上增加了第二个机器人操纵器，其目的是处理松散的缝合线，这项任务以前是由人类助手执行的。我们还引入了新型近红外荧光（NIRF）缝线，这些缝线能够自动分割并界定缝合任务的边界。在猪模型的体外实验中，我们的结果表明，对于阴道袖口闭合任务（猪模型），除了一个指标外，这个新系统在所有指标上都能超越人类外科医生，并且在任务的各个方面都更加稳定。我们还展示了该系统在体内实验（猪模型）中能够完成阴道袖口闭合的结果。
