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Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks
in Robotic Minimally Invasive Surgery
#MMPMID27158248
Liu T
; Çavu?o?lu MC
IEEE Trans Autom Sci Eng
2016[Apr]; 13
(2
): 552-563
PMID27158248
show ga
This paper presents algorithms for selection of needle grasp and for selection of
entry ports of robotic instruments, for autonomous robotic execution of the
minimally invasive surgical suturing task. A critical issue for automatic
execution of surgical tasks, such as suturing, is the choice of needle grasp for
the robotic system. Inappropriate needle grasp increases operating time requiring
multiple regrasps to complete the desired task. In robotic minimally invasive
surgery, the entry port that the surgical robot goes through into the patient's
body has a significant role on the performance of the robot. Improper entry port
affects the robot's dexterity, manipulability and reachability. The proposed
methods use manipulability, dexterity and torque metrics for needle grasp
selection, and employ needle grasp robustness and target location robustness
metrics for port selection. The results of a case study simulation in
thoracoscopic surgery is also presented to demonstrate the proposed methods. Note
to Practitioners-This paper is motivated by the problem of automating low-level
surgical tasks in robotic surgery, such as, suturing, retraction, dissection, and
providing exposure. Specifically, this paper focuses on needle grasp and entry
port selection for automating robotic surgical suturing. Selection of an
appropriate way of grasping a needle is critical for successfully and robustly
completing autonomous suturing. To the best authors' knowledge, there are no
earlier studies in the literature which focus on the needle grasp selection
problem. The proposed approach determines how to grasp the needle by optimizing
the surgical system's manipulation performance. The existing approaches in the
literature for selecting entry ports for the robotic surgical tools only consider
the teleoperated robotic minimally invasive surgery, in which the surgeons
directly control the robotic instruments. However, automated performance of
suturing introduces additional challenges due to uncertainties in needle
localization and grasping. This paper proposes two new performance metrics on
selecting port locations from the perspective of autonomously performing surgical
suturing, without direct involvement of the human user. The paper also presents
preliminary experiments which demonstrate the effectiveness of the proposed
methods.
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