| Title: | GS9-4 Toward automated open wound suturing using haptic feedback: detecting wounds and planning the suture |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 208-211 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.GS9-4 |
| Author(s): | Artur Sagitov, Hongbing Li, Evgeni Magid |
| Publication Date: | February 2, 2018 |
| Keywords: | Robotics, robot assisted surgery, medical robotics, manipulator, algorithm, modelling, trajectory |
| Abstract: | One of the key disadvantages of robotic surgery as of today is the lack of haptic feedback. While in traditional surgery surgeons using their haptic senses in all tasks most medical robot lack this ability. Using robots with haptic feedback have the potential of reducing the time spend by surgeon on such tedious subtasks as suturing helps reducing surgeon fatigue. Also decreasing the manual input of the surgeon enables remote surgery even using long communication links with big latency. In this paper we present a framework of wound detection and suture planning. We plan to implement and test our algorithms using KUKA iiwa manipulator. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/GS_pdf/GS9/GS9-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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