Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery.
Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery.
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DOI：
10.1109/tase.2016.2515161
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发表时间：
2016-04
期刊：
影响因子：
--
通讯作者：
Çavuşoğlu MC
中科院分区：
文献类型：
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作者：
Liu T;Çavuşoğlu MC
本文提出了算法选择针把握和选择的机器人仪器的入口端口，自主机器人执行的微创手术的任务。自动执行手术任务（如手术）的一个关键问题是机器人系统的针抓取选择。不适当的针夹持会增加手术时间，需要多次重新夹持才能完成预期任务。在机器人微创手术中，手术机器人进入患者体内的入口对机器人的性能具有重要作用。不适当的入口影响机器人的灵活性，可操作性和可达性。所提出的方法使用可操作性，灵巧性和扭矩指标的针把握选择，并采用针把握鲁棒性和目标位置鲁棒性指标的端口选择。一个案例研究模拟结果在胸腔镜手术也提出了证明所提出的方法。从业者注意-本文的动机是机器人手术中自动化低级手术任务的问题，例如，复位，牵开，解剖和提供暴露。具体而言，本文重点介绍了自动化机器人手术刀的针抓取和入口选择。选择合适的抓针方式对于成功且鲁棒地完成自主抓取至关重要。据作者所知，文献中没有早期研究关注针抓取选择问题。所提出的方法确定如何抓住针通过优化手术系统的操作性能。文献中用于为机器人手术工具选择进入端口的现有方法仅考虑遥控机器人微创手术，其中外科医生直接控制机器人器械。然而，由于针定位和抓持的不确定性，自动化的性能引入了额外的挑战。本文提出了两个新的性能指标选择端口位置的角度来看，自主执行外科手术，没有直接参与的人类用户。本文还提出了初步的实验证明所提出的方法的有效性。
This paper presents algorithms for selection of needle grasp and for selection of entry ports of robotic instruments, for autonomous robotic execution of the minimally invasive surgical suturing task. A critical issue for automatic execution of surgical tasks, such as suturing, is the choice of needle grasp for the robotic system. Inappropriate needle grasp increases operating time requiring multiple regrasps to complete the desired task. In robotic minimally invasive surgery, the entry port that the surgical robot goes through into the patient’s body has a significant role on the performance of the robot. Improper entry port affects the robot’s dexterity, manipulability and reachability. The proposed methods use manipulability, dexterity and torque metrics for needle grasp selection, and employ needle grasp robustness and target location robustness metrics for port selection. The results of a case study simulation in thoracoscopic surgery is also presented to demonstrate the proposed methods. Note to Practitioners—This paper is motivated by the problem of automating low-level surgical tasks in robotic surgery, such as, suturing, retraction, dissection, and providing exposure. Specifically, this paper focuses on needle grasp and entry port selection for automating robotic surgical suturing. Selection of an appropriate way of grasping a needle is critical for successfully and robustly completing autonomous suturing. To the best authors’ knowledge, there are no earlier studies in the literature which focus on the needle grasp selection problem. The proposed approach determines how to grasp the needle by optimizing the surgical system’s manipulation performance. The existing approaches in the literature for selecting entry ports for the robotic surgical tools only consider the teleoperated robotic minimally invasive surgery, in which the surgeons directly control the robotic instruments. However, automated performance of suturing introduces additional challenges due to uncertainties in needle localization and grasping. This paper proposes two new performance metrics on selecting port locations from the perspective of autonomously performing surgical suturing, without direct involvement of the human user. The paper also presents preliminary experiments which demonstrate the effectiveness of the proposed methods.