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

doi:10.1109/IROS.2016.7759365

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

Whiting School of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2343-2350
Number of pages	8
Volume	2016-November
ISBN (Electronic)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759365
Publication status	Published - Nov 28 2016
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: Oct 9 2016 → Oct 14 2016

Other

Other	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country	Korea, Republic of
City	Daejeon
Period	10/9/16 → 10/14/16

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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

Virtual fixture assistance for needle passing and knot tying. / Chen, Zihan; Malpani, Anand; Chalasani, Preetham; Deguet, Anton; Vedula, S. Swaroop; Kazanzides, Peter; Taylor, Russell H.

IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November Institute of Electrical and Electronics Engineers Inc., 2016. p. 2343-2350 7759365.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Chen, Z, Malpani, A, Chalasani, P, Deguet, A, Vedula, SS, Kazanzides, P & Taylor, RH 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, 7759365, Institute of Electrical and Electronics Engineers Inc., pp. 2343-2350, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 10/9/16. https://doi.org/10.1109/IROS.2016.7759365

Chen, Zihan ; Malpani, Anand ; Chalasani, Preetham ; Deguet, Anton ; Vedula, S. Swaroop ; Kazanzides, Peter ; Taylor, Russell H. / Virtual fixture assistance for needle passing and knot tying. IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November Institute of Electrical and Electronics Engineers Inc., 2016. pp. 2343-2350

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Access to Document

10.1109/IROS.2016.7759365