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

机译:自动执行机器人微创手术中缝合任务的针头抓握和进入端口选择

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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.
机译:本文介绍了用于选择针头抓紧和用于选择机器人仪器的进入端口,用于自动执行微创外科缝合任务的机器人的算法。自动执行外科手术任务(例如缝合)的关键问题是选择机器人系统的针头。不合适的针头抓握会增加操作时间,需要多次重新抓握才能完成所需的任务。在机器人微创手术中,手术机器人进入患者体内的进入口对机器人的性能起着重要作用。入口端口不正确会影响机器人的灵活性,可操纵性和可达性。所提出的方法将可操纵性,灵巧性和扭矩度量用于针头抓握选择,并将针头抓握鲁棒性和目标位置鲁棒性度量用于端口选择。还介绍了在胸腔镜手术中的案例研究模拟结果,以证明所提出的方法。

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