The paramount goal of soft tissue surgery is closure of wound flaps, in the absence of tension on the flaps, which will lead to optimal wound healing. Surgical procedures that require flap manipulation such as those used with traditional periodontal therapy, periodontal plastic cosmetic surgery, hard and soft tissue regeneration, and the excision of pathologic tissue require excellence in execu...

Surgical Indications • Congenital corneal disorders • Corneal dystrophies • Corneal degenerations • Corneal scarring/opacifi cation – Infection – Infl ammation – Trauma • Graft failure • Corneal decompensation – Pseudophakic – Aphakic – Iatrogenic – Dystrophic – Traumatic Surgical Instrumentation • Operating microscope • Microsuturing instruments – Fine-toothed 0.12-mm forceps – Fine-tip needle...

We address the problem of the stitching task in endoscopic surgery using a circular needle under robotic assistance. Our main focus is to present an algorithm for suturing using guidance virtual fixtures (VF) that assist the surgeon to move towards a desired goal. A weighted multi-objective, constraint optimization framework is used to compute the joint motions required for the tasks. We show t...

In this paper we present our initial work on simulating suturing using mass-spring models. Various models for simulating a suture were studied, and a simple linear mass-spring model was determined to give good performance. A novel model for pulling a suture through a deformable tissue model is presented. By connecting two separate tissues together by way of the suture, our model can simulate a ...

This paper presents a new surgical robotic system called EndoBot for assisting surgeons in performing minimally invasive surgery(MIS). The EndoBot is designed for collaborative operation between the surgeon and the robot. The demand on the surgeon is higher during suturing task which is the primary tissue approximation method and has been known as one of the most diÆcult tasks in MIS. Our work ...

Rupture of the cavernous bodies is a serious penile trauma which may result in severe long-term consequences. Standard suturing of the cavernous body is accompanied with posttraumatic complications: erectile dysfunction and distortion of the penis. The results of examination and treatment of 38 patients with rupture of the tunica albuginea of the penile cavernous bodies are presented. The techn...