A novel vision guided knot-tying method for autonomous robotic surgery

Der-Lin Chow,Russell C. Jackson,Murat Cenk Cavusoglu,Wyatt S. Newman

CASE（2014）

引用 18|浏览8

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摘要

This paper presents a vision guided automatic knot-tying method for Robotic Assisted Minimally Invasive Surgery. By utilizing 3D position reconstruction of selection points on images from calibrated stereo cameras and coordinating two robot motions for proper suture handling, we successfully realize an automatic knot-tying procedure. Our experimental results show that autonomous knot-tying has the potential to be faster than human performance, thus supporting supervisory control.

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关键词

medical robotics,vision guided knot-tying method,robotic assisted minimally invasive surgery,3D position reconstruction,mobile robots,vision guided automatic knot-tying method,supervisory control,suture handling,manipulators,stereo image processing,surgery,calibrated stereo cameras,autonomous robotic surgery,robot vision

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