Spatial motion constraints for robot assisted suturing using virtual fixtures.

Ankur Kapoor, Ming Li, Russell H Taylor

Research output: Chapter in Book/Report/Conference proceedingChapter

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 ... International Conference on Medical Image Computing and Computer-Assisted Intervention
Pages89-96
Number of pages8
Volume8
EditionPt 2
StatePublished - 2005

Fingerprint

Feasibility Studies
Robotics
Needles
Joints
Surgeons

Cite this

Kapoor, A., Li, M., & Taylor, R. H. (2005). Spatial motion constraints for robot assisted suturing using virtual fixtures. In Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention (Pt 2 ed., Vol. 8, pp. 89-96)

Spatial motion constraints for robot assisted suturing using virtual fixtures. / Kapoor, Ankur; Li, Ming; Taylor, Russell H.

Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Vol. 8 Pt 2. ed. 2005. p. 89-96.

Research output: Chapter in Book/Report/Conference proceedingChapter

Kapoor, A, Li, M & Taylor, RH 2005, Spatial motion constraints for robot assisted suturing using virtual fixtures. in Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Pt 2 edn, vol. 8, pp. 89-96.
Kapoor A, Li M, Taylor RH. Spatial motion constraints for robot assisted suturing using virtual fixtures. In Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Pt 2 ed. Vol. 8. 2005. p. 89-96
Kapoor, Ankur ; Li, Ming ; Taylor, Russell H. / Spatial motion constraints for robot assisted suturing using virtual fixtures. Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. Vol. 8 Pt 2. ed. 2005. pp. 89-96
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