Automated open wound suturing: detection and planning algorithm

Abstract

Today one of the key disadvantages of robotic surgery is a lack of a haptic feedback, while in traditional surgery a surgeon uses human haptic senses in all tasks. Providing robots with a haptic feedback have a high potential of reducing time that is spent by a surgeon on suturing subtasks and helping to reduce a surgeon fatigue. Decreasing manual input of a surgeon enables remote surgery even under long communication links with significant latency. In this paper we present a framework of wound detection and suture planning. We plan to implement and test our algorithms using KUKA iiwa manipulator.

Experimental validation of manipulability optimization control of a 7‐DoF serial manipulator for robot‐assisted surgery

“…The forward kinematics for a redundant manipulator provides a non‐linear mapping from the joint space to the Cartesian space. Thus, it is difficult to solve directly the redundancy problem at the angle level 20 ,. 37 Due to these reasons, we implemented our code, first converting the problem into a problem at the velocity level, applying the pseudoinverse formulation for obtaining the general solution at the joint velocity level, that is, the desired velocity of the manipulator's joints at each step.…”

“…In these states, the Jacobian matrix loses its rank, the structure loses mobility, and it is impossible to have arbitrary motor laws at the end‐effector 19 . Moreover, getting close to singularity points, small velocities in the operational space may lead to high velocities in the joint space 20 . Hence, it will affect the end‐effector moves in specific directions, joint velocities and accelerations.…”

Potential of genetic algorithms in multi-UAV coverage problem

“…In modern industrial applications of Industry 4.0 [7] a human-robot interaction in a shared workspace is emphasized [8], [9]. Service robotics [10] is a promising area for robots' integration covering multiple applications from education [11] and medicine [12] to entertainment [13] and advertisement [14]. A task of area coverage using mobile robots often arises in various practical applications of mobile robotics.…”

Robot-Assisted Language Learning: Scientific Data Analysis

“…The significant achievement of robotics is the direct assistance to humans, which makes this field in demand nowadays. Modern robots perform a huge range of tasks: they can provide the necessary assistance to the elderly [11], they can be used for medical procedures and examinations [12], [13] and find application as personnel in hospitals [14], and they are also used in areas of high risk for humans, in rescue operations [15]. Currently, robotics is widely used in education [16].…”