A System For Automated Vision Guided Suturing
Real-Time Feature Detection Robust Path Planning and Optimization Sophisticated Robotic Needle Steering
(Sprache: Englisch)
Suturing in laparoscopic surgery is a challenging and time-consuming task that presents haptic, motor and spatial constraints for the surgeon. As a result, there is variability in surgical outcome when performing basic suturing tasks such as knot tying,...
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Suturing in laparoscopic surgery is a challenging and time-consuming task that presents haptic, motor and spatial constraints for the surgeon. As a result, there is variability in surgical outcome when performing basic suturing tasks such as knot tying, stitching and tissue dissection (as large as 50%). This goal of this thesis is to develop a standardized, proof-of-concept, automated robotic suturing system that performs a side-to-side anastomosis with image guidance and dynamic trajectory control. A passive alignment tool is created for rigidly constraining needle pose, and robust computer vision algorithms are used to track surface features and the suture needle. A robotic system integrates these components to autonomously pass a curved suture needle through sequential loops in a tissue pad phantom.
Bibliographische Angaben
- Autor: Santosh Iyer
- 2014, 140 Seiten, Maße: 22 cm, Kartoniert (TB), Englisch
- Verlag: LAP Lambert Academic Publishing
- ISBN-10: 3659461245
- ISBN-13: 9783659461248
Sprache:
Englisch
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