Selective automation and skill transfer in medical robotics: a demonstration on surgical knot‐tying

Knoll, Alois; Mayer, Hermann; Staub, Christoph; Bauernschmitt, Robert

doi:10.1002/rcs.1419

Cited by 26 publications

(13 citation statements)

References 31 publications

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“…7 Previous studies examined various separate parts of a suture, including knot tying and thread tracking, or described an entire suturing procedure. Automated knot-tying for suturing with standard surgical instruments using skill transfer through a user demonstration was developed by Knoll et al 8 Every recorded user demonstration (a trajectory, sensory readings etc.) was decomposed into a chainable action primitives and a knot-tying task templates were reconstructed through feature extraction and fluid-based adaption of trajectories.…”

Section: Related Workmentioning

confidence: 99%

Automated open wound suturing: detection and planning algorithm

Sagitov¹,

Tsoy²,

Li³

et al. 2018

JRNAL

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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.

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Section: Related Workmentioning

confidence: 99%

Automated open wound suturing: detection and planning algorithm

Sagitov¹,

Tsoy²,

Li³

et al. 2018

JRNAL

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“…Another robot, Probot, uses image guidance to perform repetitive motions of a cutter [18]. Completely automated soft tissue surgery is not yet possible, but the surgical subtasks of knot tying, needle insertion, and executing predefined motions have been achieved [19]–[23]. Challenges from living tissue such as occlusion, respiratory motions, or tissue char limit prior results to phantom tests.…”

Section: Prior Workmentioning

confidence: 99%

Semi-autonomous electrosurgery for tumor resection using a multi-degree of freedom electrosurgical tool and visual servoing

Opfermann

Léonard

Decker

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper specifies a surgical robot performing semi-autonomous electrosurgery for tumor resection and evaluates its accuracy using a visual servoing paradigm. We describe the design and integration of a novel, multi-degree of freedom electrosurgical tool for the smart tissue autonomous robot (STAR). Standardized line tests are executed to determine ideal cut parameters in three different types of porcine tissue. STAR is then programmed with the ideal cut setting for porcine tissue and compared against expert surgeons using open and laparoscopic techniques in a line cutting task. We conclude with a proof of concept demonstration using STAR to semi-autonomously resect pseudo-tumors in porcine tissue using visual servoing. When tasked to excise tumors with a consistent 4mm margin, STAR can semi-autonomously dissect tissue with an average margin of 3.67 mm and a standard deviation of 0.89mm.

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“…Knoll et al [10–12] proposed an approach of skill transfer from human to a multi-arm robot system through learning by demonstration. They automated the tasks of tissue piercing and knot-tying in RMIS by learning.…”

Section: Related Studiesmentioning

confidence: 99%

Optimal needle grasp selection for automatic execution of suturing tasks in robotic minimally invasive surgery

Liu

Çavuşoğlu

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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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.

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Selective automation and skill transfer in medical robotics: a demonstration on surgical knot‐tying

Cited by 26 publications

References 31 publications

Automated open wound suturing: detection and planning algorithm

Automated open wound suturing: detection and planning algorithm

Semi-autonomous electrosurgery for tumor resection using a multi-degree of freedom electrosurgical tool and visual servoing

Optimal needle grasp selection for automatic execution of suturing tasks in robotic minimally invasive surgery

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