Name
Abstract | ||
|---|---|---|
Needle shape, diameter, and path are critical parameters that directly affect suture depth and tissue trauma in autonomous suturing. This paper presents an optimization-based approach to specify these parameters. Given clinical suturing guidelines, a kinematic model of needle-tissue interaction was developed to quantify suture parameters and constraints. The model was further used to formulate constant curvature needle path planning as a nonlinear optimization problem. The optimization results were confirmed experimentally with the Raven II surgical system. The proposed needle path planning algorithm guarantees minimal tissue trauma and complies with a wide range of suturing requirements. |
Year | Venue | DocType |
|---|---|---|
2019 | arXiv: Robotics | Journal |
Volume | Citations | PageRank |
abs/1901.04588 | 0 | 0.34 |
References | Authors | |
5 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sahba Aghajani Pedram | 1 | 13 | 3.26 |
| P. Ferguson | 2 | 5 | 5.04 |
| Ji Ma | 3 | 160 | 28.93 |
| Erik Dutson | 4 | 24 | 6.21 |
| Jacob Rosen | 5 | 54 | 6.48 |