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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;

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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>
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Citation

Siddarth Sen, Animesh Garg, David V. Gealy, Stephen McKinley, Yiming Jen, Ken Goldberg. "Automating multi-throw multilateral surgical suturing with a mechanical needle guide and sequential convex optimization." 2016 IEEE International Conference on Robotics and Automation (ICRA) (2016) 4178-4185

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>

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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>
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Citation

Claudia D'Ettorre, George Dwyer, Xiaofei Du, Francois Chadebecq, Francisco Vasconcelos, Elena De Momi, Danail Stoyanov. "Automated pick-up of suturing needles for robotic surgical assistance." arXiv (2018)