A study on autonomous suturing task assignment in robot‐assisted minimally invasive surgery. Issue 1 (31st October 2020)

• Record Type: Journal Article
• Authors: Gao, Shuai; Ji, Shijun; Feng, Mei; Lu, Xiuquan; Tong, Weihua
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 17:Issue 1(2021)
• Page Start: 1
• Page End: 10
• Publication Date: 2020-10-31
• Subjects: autonomous task assignment -- robot‐assisted minimally invasive surgery -- suturing; Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.2180
• Languages: English
• ISSNs: 1478-5951

Abstract

Abstract: Background: Sutures are a set of standard actions which are accomplished by multi‐instruments, researchers studied the robot autonomy of suturing, which was based on movement planning completed by a single instrument, but did not consider the assignment of suturing tasks to instruments. Method: A method was proposed for the autonomous suturing task assignment to instruments, which built a comprehensive evaluation index under some constraint conditions to determine the optimal scheme of the suturing task assignment to instruments. Results: An experiment of duodenal ulcer repair with a suturing operation was conducted under the guidance of a surgeon, and the results showed that the optimal scheme of the suturing task assignment was obtained by using the proposed method. Conclusions: The proposed method can be used for autonomous suturing task assignment, which is beneficial for improving the intelligence of robot operation.