Siddarth Sen
EECS Department
University of California, Berkeley
Technical Report No. UCB/EECS-2016-166
November 23, 2016
http://www2.eecs.berkeley.edu/Pubs/TechRpts/2016/EECS-2016-166.pdf
For supervised automation of multi-throw suturing in Robot-Assisted Minimally Invasive Surgery, we present a novel mechanical needle guide and a framework for optimizing needle size, trajectory, and control parameters using sequential convex programming. The Suture Needle Angular Positioner (SNAP) results in a 3x error reduction in the needle pose estimate in comparison with the standard actuator. We evaluate the algorithm and SNAP on a da Vinci Research Kit using tissue phantoms and compare completion time with that of humans from the JIGSAWS dataset [6]. Initial results suggest that the dVRK can perform suturing at 30% of human speed while completing 86% suture throws attempted.
Advisor: Ken Goldberg
BibTeX citation:
@mastersthesis{Sen:EECS-2016-166, Author = {Sen, Siddarth}, Title = {Surgical Automation for Multilateral Multi-Throw Suturing}, School = {EECS Department, University of California, Berkeley}, Year = {2016}, Month = {Nov}, URL = {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2016/EECS-2016-166.html}, Number = {UCB/EECS-2016-166}, Abstract = {For supervised automation of multi-throw suturing in Robot-Assisted Minimally Invasive Surgery, we present a novel mechanical needle guide and a framework for optimizing needle size, trajectory, and control parameters using sequential convex programming. The Suture Needle Angular Positioner (SNAP) results in a 3x error reduction in the needle pose estimate in comparison with the standard actuator. We evaluate the algorithm and SNAP on a da Vinci Research Kit using tissue phantoms and compare completion time with that of humans from the JIGSAWS dataset [6]. Initial results suggest that the dVRK can perform suturing at 30% of human speed while completing 86% suture throws attempted.} }
EndNote citation:
%0 Thesis %A Sen, Siddarth %T Surgical Automation for Multilateral Multi-Throw Suturing %I EECS Department, University of California, Berkeley %D 2016 %8 November 23 %@ UCB/EECS-2016-166 %U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2016/EECS-2016-166.html %F Sen:EECS-2016-166