Orhan Özgüner, Thomas Shkurti, Su Lu, W. Newman, M. C. Cavusoglu
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引用次数: 1
摘要
本文提出了一种用于自主手术缝合机器人的视觉引导自动针驱动算法。采用手术针跟踪、针路径规划和最佳抓针选择算法。该过程分为5个主要步骤:抓针、换针、驱动、再抓针和拔针。使用物理da Vinci®手术机器人系统和da Vinci Research Kit (dVRK)对该程序的性能进行实验评估。初步结果表明，dVRK可以在视觉引导下成功进行针入。
Visually Guided Needle Driving and Pull for Autonomous Suturing
This paper presents a visually-guided autonomous needle driving algorithm for autonomous robotic surgical suturing. Surgical needle tracking, needle path planning, and optimum needle grasp selection algorithms are employed. The procedure is performed in 5 major steps: needle grasp, needle hand-off, needle drive, needle regrasp, and needle pull. The performance of the procedure is experimentally evaluated using the physical da Vinci® surgical robotic system and da Vinci Research Kit (dVRK). Initial results suggest that the dVRK can successfully perform needle driving with visual guidance.
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