Vaginal Cuff Closure With Dual-Arm Robot and Near-Infrared Fluorescent Sutures

Simon Leonard,Justin Opfermann,Nicholas Uebele,Lydia Carroll, Ryan Walter,Christopher Bayne,Jiawei Ge,Axel Krieger

IEEE Transactions on Medical Robotics and Bionics（2021）

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摘要

This paper presents a dual-arm suturing robot. We extend the Smart Tissue Autonomous Robot (STAR) with a second robot manipulator, whose purpose is to manage loose suture thread, a task that was previously executed by a human assistant. We also introduce novel near-infrared fluorescent (NIRF) sutures that are automatically segmented and delimit the boundaries of the suturing task. During ex-vivo e...

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关键词

Robots,Laparoscopes,Tools,Needles,Wounds,Yarn,Three-dimensional displays

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