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der-lin Chow dissertation.pdf (15.22 MB)
ETD Abstract Container
Abstract Header
Computer-Assisted Robotic Suturing
Author Info
Chow, Der-Lin
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=case1496677783008987
Abstract Details
Year and Degree
2017, Doctor of Philosophy, Case Western Reserve University, EECS - Electrical Engineering.
Abstract
The design problem addressed in this dissertation is to automate suturing for Robotic Assisted Minimally Invasive Surgery (RAMIS). Automated suturing would consist of intelligent robotic needle-driving, followed by needle extraction, suture- pulling and knot-tying. This process is complicated by considerations of robot joint limits and reachability, constraints of desirable circular needle-driving and needle- extraction trajectories, unpredictable pose and tangling of slack or ungrasped suture, and concerns of interference between grippers or between a gripper and workspace constraints. The work presented here includes: optimal trajectory planning for needle driv- ing (with consideration of joint limits); alternative techniques for knot tying; con- sideration of work-volume minimization; automation of suture pulling; potential for compliant-motion control in robotic surgery; and design of a graphical user interface for supervisory control of suturing. The present work includes experimental evaluation using a pair of industrial robots, as well as evaluation in simulation using a Gazebo model of a DaVinci surgical robot controlled using the Robot Operating System. Results show the ability to exploit robot trajectories and needle grasps that are non-intuitive and more effective than manual operations by human teleoperators. The developments in this research offer potential to achieve faster and more dexterous manipulation than is humanly possible.
Committee
Wyatt Newman, PhD (Advisor)
Murat Cavusoglu, PhD (Committee Member)
Francis Merat, PhD (Committee Member)
Gregory Lee, PhD (Committee Member)
Roger Quinn, PhD (Committee Member)
Pages
138 p.
Subject Headings
Robotics
Keywords
RAMIS, Supervisory Control, Needle-Driving, Suture-Pulling, Knot-Tying
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Refworks
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RIS
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Citations
Chow, D.-L. (2017).
Computer-Assisted Robotic Suturing
[Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1496677783008987
APA Style (7th edition)
Chow, Der-Lin.
Computer-Assisted Robotic Suturing.
2017. Case Western Reserve University, Doctoral dissertation.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=case1496677783008987.
MLA Style (8th edition)
Chow, Der-Lin. "Computer-Assisted Robotic Suturing." Doctoral dissertation, Case Western Reserve University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1496677783008987
Chicago Manual of Style (17th edition)
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Document number:
case1496677783008987
Download Count:
384
Copyright Info
© 2017, some rights reserved.
Computer-Assisted Robotic Suturing by Der-Lin Chow is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.
Release 3.2.12