3 research outputs found
A Comparison of Assistive Methods for Suturing in MIRS
In Minimally Invasive Robotic Surgery (MIRS) a robot is interposed between the surgeon and the surgical site to increase the precision, dexterity, and to reduce surgeon's effort and cognitive load with respect to the standard laparoscopic interventions. However, the modern robotic systems for MIRS are still based on the traditional telemanipulation paradigm, e.g. the robot behaviour is fully under surgeon's control, and no autonomy or assistance is implemented. In this work, supervised and shared controllers have been developed in a vision-free, human-in-the-Ioop, control framework to help surgeon during a surgical suturing procedure. Experiments conducted on the da Vinci Research Kit robot proves the effectiveness of the method indicating also the guidelines for improving results
Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery
The limited workspace in pediatric endoscopic surgery makes surgical suturing
one of the most difficult tasks. During suturing, surgeons have to prevent
collisions between tools and also collisions with the surrounding tissues.
Surgical robots have been shown to be effective in adult laparoscopy, but
assistance for suturing in constrained workspaces has not been yet fully
explored. In this letter, we propose guidance virtual fixtures to enhance the
performance and the safety of suturing while generating the required task
constraints using constrained optimization and Cartesian force feedback. We
propose two guidance methods: looping virtual fixtures and a trajectory
guidance cylinder, that are based on dynamic geometric elements. In simulations
and experiments with a physical robot, we show that the proposed methods
achieve a more precise and safer looping in robot-assisted pediatric endoscopy.Comment: Accepted on RA-L/ICRA 2020, 8 Pages. Fixed a few typo
Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit
Robotic-assisted surgery is now well-established in clinical practice and has
become the gold standard clinical treatment option for several clinical
indications. The field of robotic-assisted surgery is expected to grow
substantially in the next decade with a range of new robotic devices emerging
to address unmet clinical needs across different specialities. A vibrant
surgical robotics research community is pivotal for conceptualizing such new
systems as well as for developing and training the engineers and scientists to
translate them into practice. The da Vinci Research Kit (dVRK), an academic and
industry collaborative effort to re-purpose decommissioned da Vinci surgical
systems (Intuitive Surgical Inc, CA, USA) as a research platform for surgical
robotics research, has been a key initiative for addressing a barrier to entry
for new research groups in surgical robotics. In this paper, we present an
extensive review of the publications that have been facilitated by the dVRK
over the past decade. We classify research efforts into different categories
and outline some of the major challenges and needs for the robotics community
to maintain this initiative and build upon it