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Title: Dynamic trajectory planning for robotic knot tying
Authors: Lu, Bo
Chu, HK 
Cheng, L 
Keywords: Trajectory Planning
Knot Tying
Loop Suturing
Minimally Invasive Surgery
Robotic Surgery
Issue Date: 2016
Publisher: Institute of Electrical and Electronics Engineers
Source: The 2016 IEEE International Conference on Real-time Computing and Robotics (RCAR), Angkor Wat, 6-10 Jun, 2016, IEEE , p. 180-185 How to cite?
Abstract: Knot tying is an important component of surgery. When surgeons perform such operation via a tele-operated robotic system, the limited dexterity and field-of-view often poses technical challenges to the surgeons. In this paper, a new knot-tying method is proposed to enhance the quality of robotic knot-tying practice with low supervision. The trajectories of the instruments that can maintain the suture tension during the loop winding were formulated through the developed equations and MATLAB was employed to simulate the trajectory profiles. The grippers of the two instruments were then manipulated to grasp the suture and dynamically follow the pre-defined trajectories so that a suture knot can be constructed. Experiments were conducted and the results confirm that suture loops can be successfully winded around the instrument without suture slippage.
ISBN: 978-1-4673-8959-4 (electronic)
978-1-4673-8958-7 (USB)
978-1-4673-8960-0 (Print on Demand(PoD))
DOI: 10.1109/RCAR.2016.7784022
Appears in Collections:Conference Paper

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