TY - GEN
T1 - Automation of tissue piercing using circular needles and vision guidance for computer aided laparoscopic surgery
AU - Staub, Christoph
AU - Osa, Takayuki
AU - Knoll, Alois
AU - Bauernschmitt, Robert
PY - 2010
Y1 - 2010
N2 - Despite the fact that minimally invasive robotic surgery provides many advantages for patients, such as reduced tissue trauma and shorter hospitalization, complex tasks (e.g. tissue piercing or knot-tying) are still time-consuming, errorprone and lead to quicker fatigue of the surgeon. Automating these recurrent tasks could greatly reduce total surgery time for patients and disburden the surgeon while he can focus on higher level challenges. This work tackles the problem of autonomous tissue piercing in robot-assisted laparoscopic surgery with a circular needle and general purpose surgical instruments. To command the instruments to an incision point, the surgeon utilizes a laser pointer to indicate the stitching area. A precise positioning of the needle is obtained by means of a switching visual servoing approach and the subsequent stitch is performed in a circular motion.
AB - Despite the fact that minimally invasive robotic surgery provides many advantages for patients, such as reduced tissue trauma and shorter hospitalization, complex tasks (e.g. tissue piercing or knot-tying) are still time-consuming, errorprone and lead to quicker fatigue of the surgeon. Automating these recurrent tasks could greatly reduce total surgery time for patients and disburden the surgeon while he can focus on higher level challenges. This work tackles the problem of autonomous tissue piercing in robot-assisted laparoscopic surgery with a circular needle and general purpose surgical instruments. To command the instruments to an incision point, the surgeon utilizes a laser pointer to indicate the stitching area. A precise positioning of the needle is obtained by means of a switching visual servoing approach and the subsequent stitch is performed in a circular motion.
KW - Minimally invasive surgery
KW - Robot surgery
KW - Tissue piercing
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=77955802303&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509601
DO - 10.1109/ROBOT.2010.5509601
M3 - Conference contribution
AN - SCOPUS:77955802303
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4585
EP - 4590
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -