Abstract
In single-port access surgeries, robot size is crucial due to the limited workspace. Thus, a robot may be designed under-actuated. Suturing, in contrast, is a complicated task and requires full actuation. This study aims to overcome this shortcoming by implementing an optimization-based algorithm for autonomous suturing for an under-actuated robot. The proposed algorithm approximates the ideal suturing trajectory by slightly reorienting the needle while deviating as little as possible from the ideal, full degree-of-freedom suturing case. The deviation of the path taken by a custom robot with respect to the ideal trajectory varies depending on the suturing starting location within the workspace as well as the needle size. A quantitative analysis reveals that in 13% of the investigated workspace, the accumulative deviation was less than 10 mm. In the remaining workspace, the accumulative deviation was less than 30 mm. Likewise, the accumulative deviation of a needle with a radius of 10 mm was 2.2 mm as opposed to 8 mm when the radius was 20 mm. The optimization-based algorithm maximized the accuracy of a four-DOF robot to perform a path-constrained trajectory and illustrates the accuracy-workspace correlation.
Original language | English (US) |
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Article number | 9200749 |
Pages (from-to) | 1262-1272 |
Number of pages | 11 |
Journal | IEEE Transactions on Biomedical Engineering |
Volume | 68 |
Issue number | 4 |
DOIs | |
State | Published - Apr 2021 |
Keywords
- Four-DOF robot
- autonomous suturing
- path planning
- robotic surgery
- trajectory optimization
ASJC Scopus subject areas
- Biomedical Engineering