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Laparoscopic and Single Port Access Surgery (SPAS) present unique dexterity challenges related to dual-arm operations in confined spaces and tele-manipulation of highly dexterous surgical slaves. In an effort to reduce tele-manipulation burden, new paradigms for semi-automating surgical tasks are needed. This paper presents a new minimal constraint suturing and automated choice of handedness for anthropomorphic dual-arm robots. The automated choice of handedness supports surgeons during tele-manipulation of complex robotic slaves where dexterity and workspace constraints are difficult to learn. This criterion is also used to support automated dual-arm rendezvous for quicker suture exchange during dual-arm suturing. The minimal constraint algorithm presented in this paper allows surgeons to operate within a shared-control tele-manipulation framework whereby the surgeon controls the needle insertion speed and the robot controls the needle orientation while respecting a minimalistic set of tissue constraints. This framework is evaluated on a novel insertable robotic end-effectors platform for SPAS. A simulation study demonstrates the effectiveness of the automated choice of handedness criterion through a study of dexterity limitations of each arm. Additional simulations show the proposed algorithm for automated rendezvous and suture exchange.
Suturing and tying knots assisted by surgical robot systems are complicated and time-consuming tasks in minimally invasive surgery (MIS). It is almost impossible to perform these operations in laryngeal MIS because motions of the end-effectors are greatly confined by a narrow and long laryngoscope tube. This paper presents the robot-assisted operations of suturing and knot-tying in a laryngeal surgery under a self-retaining laryngoscope, which has a greatly confined workspace. In order to use robot assistance to perform the suturing and knot-tying tasks in such a workspace, an appropriate suturing path is planned. The suturing path planning is completed based on a knot-tying algorithm called the bending-twisting knot-tying (BTKT). A robot system for laryngeal MIS called MicroHand III is designed. The kinematical model of the system is developed in the paper. The simulation and experimental results have shown that suturing and knot-tying assisted by MicroHand III system are successful.
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