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Final_Su_PhD_Thesis.pdf (26.16 MB)

ETD Abstract Container

Abstract Header

Subtask Automation in Robotic Surgery: Needle Manipulation for Surgical Suturing

Lu, Su
http://rave.ohiolink.edu/etdc/view?acc_num=case1607429591883517

Abstract Details

, Doctor of Philosophy, Case Western Reserve University, EECS - Electrical Engineering.
Development of Robotic Surgical System technologies has led to a widespread adoption of Robotic Assisted Minimally Invasive Surgery due to its many advantages over traditional open surgery, including smaller incisions and quick recovery of patients. Automating surgical subtasks has been proposed as a method to enhance robotic surgical systems by allowing the system to function more like an intelligent assistant to the surgeon and less like a directly teleoperated tool. Automation of surgical suturing in robotic surgery aims to alleviate surgeon's burden by providing more accurate, repeatable, and faster suturing. Building on the outcomes of research on subtasks automation in robotic surgery, this project focuses on a specific problem in autonomous execution of surgical suturing, namely, the planning of needle manipulation motions. As part of earlier studies, algorithms for planning of optimal needle driving trajectories and optimal selection of needle grasp configurations were developed. However, the problems of initial grasping of the needle and planning of the needle manipulations needed to bring the needle to the optimal grasp configuration have not been previously addressed. In this study, motion planners to perform the initial needle grasping and to perform dual-arm needle regrasp manipulations to address these problems are presented. The needle regrasp manipulation planner is able to find a collision-free handoff manipulation path for two manipulators such that the needle is optimally grasped and positioned at the target pose irrespective of how the needle is initially grasped. The proposed method is also shown to produce trajectories which can be successfully executed by a simulated da Vinci® robot and result in grasps that are optimal. Additionally, a path correction algorithm to overcome the uncertainties resulting from needle regrasp is proposed and its reliability is evaluated through experiments on a simulated da Vinci® robot.
ÇAVUŞOĞLU MURAT (Advisor)
Robotics

Recommended Citations

Citations

  • Lu, S. (n.d.). Subtask Automation in Robotic Surgery: Needle Manipulation for Surgical Suturing [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1607429591883517

    APA Style (7th edition)

  • Lu, Su. Subtask Automation in Robotic Surgery: Needle Manipulation for Surgical Suturing. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1607429591883517.

    MLA Style (8th edition)

  • Lu, Su. "Subtask Automation in Robotic Surgery: Needle Manipulation for Surgical Suturing." Doctoral dissertation, Case Western Reserve University. Accessed MAY 01, 2024. http://rave.ohiolink.edu/etdc/view?acc_num=case1607429591883517

    Chicago Manual of Style (17th edition)

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This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.