Automated pick-up of suturing needles for robotic surgical assistance

Conference paper

D'Ettorre, C., Dwyer, G., Du, X., Chadebecq, F., Vasconcelos, F., De Momi, E. and Stoyanov, D. 2018. Automated pick-up of suturing needles for robotic surgical assistance. 2018 IEEE International Conference on Robotics and Automation (ICRA). Brisbane, QLD, Australia 21 - 25 May 2018 IEEE. pp. 1370-1377 https://doi.org/10.1109/ICRA.2018.8461200
TypeConference paper
TitleAutomated pick-up of suturing needles for robotic surgical assistance
AuthorsD'Ettorre, C., Dwyer, G., Du, X., Chadebecq, F., Vasconcelos, F., De Momi, E. and Stoyanov, D.
Abstract

Robot-assisted laparoscopic prostatectomy (RALP) is a treatment for prostate cancer that involves complete or nerve sparing removal prostate tissue that contains cancer. After removal the bladder neck is successively sutured directly with the urethra. The procedure is called urethrovesical anastomosis and is one of the most dexterity demanding tasks during RALP. Two suturing instruments and a pair of needles are used in combination to perform a running stitch during urethrovesical anastomosis. While robotic instruments provide enhanced dexterity to perform the anastomosis, it is still highly challenging and difficult to learn. In this paper, we presents a vision-guided needle grasping method for automatically grasping the needle that has been inserted into the patient prior to anastomosis. We aim to automatically grasp the suturing needle in a position that avoids hand-offs and immediately enables the start of suturing. The full grasping process can be broken down into: a needle detection algorithm; an approach phase where the surgical tool moves closer to the needle based on visual feedback; and a grasping phase through path planning based on observed surgical practice. Our experimental results show examples of successful autonomous grasping that has the potential to simplify and decrease the operational time in RALP by assisting a small component of urethrovesical anastomosis.

Conference2018 IEEE International Conference on Robotics and Automation (ICRA)
Page range1370-1377
Proceedings Title2018 IEEE International Conference on Robotics and Automation (ICRA)
ISSN1050-4729
Electronic2577-087X
ISBN
Electronic9781538630815
Hardcover9781538630822
PublisherIEEE
Publication dates
Online13 Sep 2018
Publication process dates
Accepted2018
Deposited28 Feb 2024
Output statusPublished
Digital Object Identifier (DOI)https://doi.org/10.1109/ICRA.2018.8461200
Web of Science identifierWOS:000446394501009
LanguageEnglish
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