Automated Surgical Task Execution: the Needle Insertion Case
نویسندگان
چکیده
The paper describes a robot control and coordination framework for the automation of surgical tasks. In the proposed framework, surgeons do not interact with robots by means of teleoperation, but they are supported by autonomous robotic assistants. Such robots perform basic surgical actions by combining sensing, dexterity and cognitive capabilities. The goal is achieved thanks to rigorous assessment of surgical requirements, formal specification of robotic system behavior, including multiple arm coordination and human/system interaction, and control software development with state-of-the-art componentbased technologies. The paper presents an experimental setup composed of two robots operating on a US-compatible phantom, demonstrating the feasibility of the approach.
منابع مشابه
Automating Multiple-Throw Multilateral Surgical Suturing with a Mechanical Needle Guide and Sequential Convex Optimization
Suturing is a ubiquitous sub-task in surgery. To explore supervised automation of multi-throw suturing in Robot-Assisted Minimally Invasive Surgery, we present a novel mechanical needle guide design and an optimization framework to optimize needle size, needle trajectory and control parameters for two arms using sequential convex programming. We also develop a model-based needle tracking system...
متن کاملSoccer Goalkeeper Task Modeling and Analysis by Petri Nets
In a robotic soccer team, goalkeeper is an important challenging role, which has different characteristics from the other teammates. This paper proposes a new learning-based behavior model for a soccer goalkeeper robot by using Petri nets. The model focuses on modeling and analyzing, both qualitatively and quantitatively, for the goalkeeper role so that we have a model-based knowledge of the ta...
متن کاملEffects of Rotational Motion in Robotic Needle Insertion
Background: Robotic needle insertion in biological tissues has been known as one the most applicable procedures in sampling, robotic injection and different medical therapies and operations.Objective: In this paper, we would like to investigate the effects of angular velocity in soft tissue insertion procedure by considering force-displacement diagram. Non-homogenous camel liver can be exploite...
متن کاملSurgical motion characterization in simulated needle insertion procedures
PURPOSE: Evaluation of surgical performance in image-guided needle insertions is of emerging interest, to both promote patient safety and improve the efficiency and effectiveness of training. The purpose of this study was to determine if a Markov model-based algorithm can more accurately segment a needle-based surgical procedure into its five constituent tasks than a simple threshold-based algo...
متن کاملKnotting of a Perineural Catheter Inserted with Ultrasonography
Objectives: Increasingly, ultrasonography is being used to insert perineural catheters. We report the case of a knotted and retained interscalene catheter that required surgical extraction. Case report: An interscalene catheter was inserted to provide postoperative analgesia in a patient undergoing surgical repair of a proximal humeral fracture. Using ultrasound guidance, the needle tip was adv...
متن کامل