DocumentCode
237570
Title
A novel vision guided knot-tying method for autonomous robotic surgery
Author
Der-Lin Chow ; Jackson, Russell C. ; Cavusoglu, M. Cenk ; Newman, Wyatt
Author_Institution
EECS Dept., Case Western Reserve Univ., Cleveland, OH, USA
fYear
2014
fDate
18-22 Aug. 2014
Firstpage
504
Lastpage
508
Abstract
This paper presents a vision guided automatic knot-tying method for Robotic Assisted Minimally Invasive Surgery. By utilizing 3D position reconstruction of selection points on images from calibrated stereo cameras and coordinating two robot motions for proper suture handling, we successfully realize an automatic knot-tying procedure. Our experimental results show that autonomous knot-tying has the potential to be faster than human performance, thus supporting supervisory control.
Keywords
manipulators; medical robotics; mobile robots; robot vision; stereo image processing; surgery; 3D position reconstruction; autonomous robotic surgery; calibrated stereo cameras; robotic assisted minimally invasive surgery; supervisory control; suture handling; vision guided automatic knot-tying method; vision guided knot-tying method; Cameras; Grasping; Grippers; Needles; Robot kinematics; Surgery;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation Science and Engineering (CASE), 2014 IEEE International Conference on
Conference_Location
Taipei
Type
conf
DOI
10.1109/CoASE.2014.6899373
Filename
6899373
Link To Document