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
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;
Conference_Titel :
Automation Science and Engineering (CASE), 2014 IEEE International Conference on
Conference_Location :
Taipei
DOI :
10.1109/CoASE.2014.6899373
