Spatial motion constraints for robot assisted suturing using virtual fixtures

Ankur Kapoor, Ming Li, Russell H. Taylor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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 that with the help of VF, suturing can be performed at awkward angles without multiple trials, thus avoiding damage to tissue. In this preliminary study we show the feasibility of our approach and demonstrate the promise of cooperative assistance in complex tasks such as suturing.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2005 - 8th International Conference, Proceedings
Pages89-96
Number of pages8
DOIs
StatePublished - 2005
Event8th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005 - Palm Springs, CA, United States
Duration: Oct 26 2005Oct 29 2005

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume3750 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other8th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005
CountryUnited States
CityPalm Springs, CA
Period10/26/0510/29/05

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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