A System For Automated Vision Guided Suturing
Santosh Iyer
Broschiertes Buch

A System For Automated Vision Guided Suturing

Real-Time Feature Detection Robust Path Planning and Optimization Sophisticated Robotic Needle Steering

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Suturing in laparoscopic surgery is a challenging and time-consuming task that presents haptic, motor and spatial constraints for the surgeon. As a result, there is variability in surgical outcome when performing basic suturing tasks such as knot tying, stitching and tissue dissection (as large as 50%). This goal of this thesis is to develop a standardized, proof-of-concept, automated robotic suturing system that performs a side-to-side anastomosis with image guidance and dynamic trajectory control. A passive alignment tool is created for rigidly constraining needle pose, and robust computer v...