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.

Advisors: Ken Goldberg

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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