A System For Automated Vision Guided Suturing: Real-Time Feature Detection | Robust Path Planning and Optimization | Sophisticated Robotic Needle Steering - Softcover

Iyer, Santosh

Softcover

ISBN 10: 3659461245 ISBN 13: 9783659461248

Verlag: LAP LAMBERT Academic Publishing, 2014

Inhaltsangabe

Suturing in laparoscopic surgery is a challenging and time-consuming task that presents haptic, motor and spatial constraints for the surgeon. As a result, there is variability in surgical outcome when performing basic suturing tasks such as knot tying, stitching and tissue dissection (as large as 50%). This goal of this thesis is to develop a standardized, proof-of-concept, automated robotic suturing system that performs a side-to-side anastomosis with image guidance and dynamic trajectory control. A passive alignment tool is created for rigidly constraining needle pose, and robust computer vision algorithms are used to track surface features and the suture needle. A robotic system integrates these components to autonomously pass a curved suture needle through sequential loops in a tissue pad phantom.

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Über die Autorin bzw. den Autor

My interests lie in medical robotics and computer integrated surgery, helping design disruptive technologies that revolutionize the way modern surgery is performed. Research areas that appeal to me are image-guided robotic procedures, "smart" microsurgical tool design and simulation tools for surgical training and procedure planning.

Details zur Ausgabe

• Verlag: LAP LAMBERT Academic Publishing
• Erscheinungsdatum: 2014
• Sprache: Englisch
• ISBN 10: 3659461245
• ISBN 13: 9783659461248
• Einband: Taschenbuch
• Anzahl der Seiten: 140
• Kontakt zum Hersteller: Nicht verfügbar
• Verantwortliche Person: SIA OmniScriptum Publishing; customerservice@vdm-vsg.de; ; Brivibas gatve 197; Riga; 1039; Lettland