Human-integrated automation of suturing task with one-master two-slave system for laparoscopic surgery

Kengo Watanabe, Takahiro Kanno, Kazuhisa Ito, Kenji Kawashima

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Automating surgical subtasks such as suturing, cutting, and debridement can reduce surgeon fatigue and procedure time and also facilitate tele-surgery. Especially, suturing is ubiquitous subtask in surgery. To achieve fully autonomous suturing with surgical robot is challenging due to deformation of human tissue. However, certain level of autonomy in robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of robot : high dexterity and accuracy. This paper presents a human-integrated autonomous procedure of suturing task using surgical robot which is capable of force estimation. We propose a system that encloses the feature of human intervention to insert/pull needle which requires for utmost attention and the feature of autonomous control of approach/grasp needle for tedium procedure. The system consists of one-master two-slave for human-integrated autonomous surgical suturing which can control two slave forceps' manipulator through one master. The estimated force is used to recognize the needle insertion by one of the slave that manually controlled with a master. Then another slave starts autonomous approach/grasp. Finally, the approached slave pull off the needle manually with a master. We conducted single throw suturing task and evaluated the proposed system based on completion time with conventional robotic suturing task. As a result, time was successfully decreased by average 79% in grasping mode.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1180-1185
Number of pages6
Volume2016-September
ISBN (Electronic)9781509020652
DOIs
Publication statusPublished - 2016 Sep 26
Event2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
Duration: 2016 Jul 122016 Jul 15

Other

Other2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
CountryCanada
CityBanff
Period16/7/1216/7/15

Fingerprint

Needles
Surgery
Automation
Manipulators
Robotics
Fatigue of materials
Robots
Tissue
Robotic surgery

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Watanabe, K., Kanno, T., Ito, K., & Kawashima, K. (2016). Human-integrated automation of suturing task with one-master two-slave system for laparoscopic surgery. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 (Vol. 2016-September, pp. 1180-1185). [7576930] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2016.7576930

Human-integrated automation of suturing task with one-master two-slave system for laparoscopic surgery. / Watanabe, Kengo; Kanno, Takahiro; Ito, Kazuhisa; Kawashima, Kenji.

2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Vol. 2016-September Institute of Electrical and Electronics Engineers Inc., 2016. p. 1180-1185 7576930.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Watanabe, K, Kanno, T, Ito, K & Kawashima, K 2016, Human-integrated automation of suturing task with one-master two-slave system for laparoscopic surgery. in 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. vol. 2016-September, 7576930, Institute of Electrical and Electronics Engineers Inc., pp. 1180-1185, 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016, Banff, Canada, 16/7/12. https://doi.org/10.1109/AIM.2016.7576930
Watanabe K, Kanno T, Ito K, Kawashima K. Human-integrated automation of suturing task with one-master two-slave system for laparoscopic surgery. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Vol. 2016-September. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1180-1185. 7576930 https://doi.org/10.1109/AIM.2016.7576930
Watanabe, Kengo ; Kanno, Takahiro ; Ito, Kazuhisa ; Kawashima, Kenji. / Human-integrated automation of suturing task with one-master two-slave system for laparoscopic surgery. 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Vol. 2016-September Institute of Electrical and Electronics Engineers Inc., 2016. pp. 1180-1185
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