Trajectory Planning of Knot-tying Manipulation in Surgery
Due to demands for stability, accuracy and lower postoperative complication in surgery, robotic surgical assistants may assist surgeons by performing specific subtasks such as suturing and knot-tying to reduce surgeon tedium and duration of some exhausting operations.To improve the surgical knot quality and accelerate healing for patients in surgery, trajectory planning of suture clamping point in knot-tying manipulation using a master-slave robot is discussed based on the surgeons manual motion of knot-tying.First, the manual knot-tying process is described, and then according to task sequences, trajectories planning of suture clamping point in looping step based on motion synthesis of rotating joint and swinging joint and pulling step based on slip knot theory are proposed separately to form a knot.To verify the reasonability of trajectory planning, knot-tying motion is simulated by Solidworks.And finally the knot-tying experiment is implemented on the specific robotic setup.The results show that the proposed trajectory planning of knot-tying is feasible in the automation of surgical knot-tying manipulation.
knot-tying trajectory planning master-slave robot
Xiao Jing-jing Yang Yang Wang Zhe
School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China
国际会议
the 3nd International Conference on Digital Manufacturing & Automation (第三届数字制造与自动化国际会议(ICDMA 2012))
桂林
英文
752-757
2012-08-01（万方平台首次上网日期，不代表论文的发表时间）