Virtual fixture assistance for needle passing and knot tying

Zihan Chen, Anand Malpani, Preetham Chalasani, Anton Deguet, S. Swaroop Vedula, Peter Kazanzides, Russell H Taylor

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

Abstract

Suturing is a challenging and highly dexterous task in minimally invasive surgery, even with the assistance of robotic surgical systems. In this work, we propose a simple yet versatile impedance virtual fixture framework, which can be applied on the master manipulator in a tele-operated robotic surgical system. With this framework, we further develop two types of virtual fixtures that assist with the needle passing and knot tying sub-tasks in suturing. The paper also presents the results of a 14-participant user study for both needle passing and knot tying sub-tasks, showing that virtual fixture assistance for novice users increases the needle passing exit point accuracy, reduces the number of errors (suture slip) in knot tying, and simultaneously decreases the task completion time and overall operator workload.

Original languageEnglish (US)
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2343-2350
Number of pages8
Volume2016-November
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - Nov 28 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period10/9/1610/14/16

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Chen, Z., Malpani, A., Chalasani, P., Deguet, A., Vedula, S. S., Kazanzides, P., & Taylor, R. H. (2016). Virtual fixture assistance for needle passing and knot tying. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 2343-2350). [7759365] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759365