Robotic Suturing In Minimally Invasive Surgery
Journal
JOURNAL OF MARINE SCIENCE AND TECHNOLOGY-TAIWAN
Journal Volume
28
Journal Issue
5
Pages
411-421
Date Issued
2020
Author(s)
Abstract
Minimally invasive surgery (MIS) has the advantages of minimal bleeding and rapid postoperative recovery, which can alleviate patient suffering. Therefore, MIS is widely used in clinical applications. However, MIS is more difficult than traditional surgery; surgeons must be more meticulous when performing MIS than when performing ordinary surgery. Using a robotic arm in an auxiliary role in MIS can reduce the workload of surgeons and increase the precision and efficiency of the surgical procedure. The aim of this article is to design an MIS robot system that can perform automatic surgical suturing. First, we designed the basic control architecture for a remotecontrol- of-motion MIS robot with eight degrees of freedom. The surgical instrument was operated in the abdominal cavity without causing lacerations to the patient's abdomen. The surgical suture motion was then performed using the robot arm in the abdominal cavity. The correctness of the control algorithm and the surgical suture motion was verified through simulation. Finally, the feasibility of using an MIS robot for surgical suturing was verified through experiments. © 2020 National Taiwan Ocean University. All rights reserved.
Subjects
minimally invasive surgery; MIS robot; remote center of motion; surgical suturing; LAPAROSCOPIC LIVER RESECTION; HEPATOCELLULAR-CARCINOMA; PLATFORM; SYSTEM
minimally invasive surgery; MIS robot; remote center of motion; surgical suturing
SDGs
Other Subjects
Degrees of freedom (mechanics); Machine design; Patient rehabilitation; Robotic arms; Robotics; Surgical equipment; Transplantation (surgical); Abdominal cavity; Bleedings; Minimally invasive surgery robot; Minimally-invasive surgery; Patient's suffering; Remote center of motions; Surgery robot; Surgical sutures; Surgical suturing; Robotic surgery
Publisher
NATL TAIWAN OCEAN UNIV
Type
journal article