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Automating multi-throw multilateral surgical suturing with a mechanical needle guide and sequential convex optimization

Siddarth Sen, Animesh Garg, David V. Gealy, Stephen McKinley, Yiming Jen, Ken Goldberg
<span title="">2016</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2016 IEEE International Conference on Robotics and Automation (ICRA)</a> </i> &nbsp;
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.  ...  We thank Intuitive Surgical, Simon DiMao, and the dVRK community for support; NVIDIA for computing equipment grants; Andy Chou and Susan Lim for developmental grants; and Dr.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2016.7487611">doi:10.1109/icra.2016.7487611</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/SenGGMJG16.html">dblp:conf/icra/SenGGMJG16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/oow6fsdeinhb7edeehary4ptfi">fatcat:oow6fsdeinhb7edeehary4ptfi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170318183532/http://www.ieor.berkeley.edu/~goldberg/pubs/icra2016-final-suturing.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c8/1e/c81e8f7636c3a870e20fcf493606c3fee424022e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2016.7487611"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Automated pick-up of suturing needles for robotic surgical assistance [article]

Claudia D'Ettorre, George Dwyer, Xiaofei Du, Francois Chadebecq, Francisco Vasconcelos, Elena De Momi, Danail Stoyanov
<span title="2018-04-09">2018</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We aim to automatically grasp the suturing needle in a position that avoids hand-offs and immediately enables the start of suturing.  ...  Two suturing instruments and a pair of needles are used in combination to perform a running stitch during urethrovesical anastomosis.  ...  [18] worked on an automating multi-throw multilateral surgical suturing introducing a novel mechanical needle guide, and optimised the entire framework using sequential convex programming.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1804.03141v1">arXiv:1804.03141v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/n2qmkp4krjgzfiljcftf7fa3va">fatcat:n2qmkp4krjgzfiljcftf7fa3va</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200915191234/https://arxiv.org/pdf/1804.03141v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/83/52/8352c72bcde2a1d2f3af7e9b8b5652e80f17a60c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1804.03141v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>