Automation of tissue piercing using circular needles and vision guidance for computer aided laparoscopic surgery

Christoph Staub, Takayuki Osa, Alois Knoll, Robert Bauernschmitt

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

51 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages4585-4590
Number of pages6
DOIs
StatePublished - 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 3 May 20107 May 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/TerritoryUnited States
CityAnchorage, AK
Period3/05/107/05/10

Keywords

  • Minimally invasive surgery
  • Robot surgery
  • Tissue piercing
  • Visual servoing

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