Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery

作者：Liu Taoming^*; Cavusoglu Murat Cenk^*

来源：IEEE Transactions on Automation Science and Engineering, 2016, 13(2): 552-563.

DOI：10.1109/TASE.2016.2515161

• Kinematics
• needle grasp selection
• port placement
• surgical robots

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.

• 出版日期2016-4