自律縫合における最適な針の直径・形状・経路の決定
Optimal Needle Diameter, Shape, and Path in Autonomous Suturing
針と組織の力学的モデルを構築し、組織損傷を最小化する針の直径・形状・経路を非線形最適化で求めてRaven IIで実証した論文。
著者: S. Aghajani Pedram, P. Ferguson, J. Ma, E. Dutson, J. Rosen
分類: cs.RO
原文アブストラクト
Needle shape, diameter, and path are critical parameters that directly affect suture depth and tissue trauma in autonomous suturing. This paper presents an optimization-based approach to specify these parameters. Given clinical suturing guidelines, a kinematic model of needle-tissue interaction was developed to quantify suture parameters and constraints. The model was further used to formulate constant curvature needle path planning as a nonlinear optimization problem. The optimization results were confirmed experimentally with the Raven II surgical system. The proposed needle path planning algorithm guarantees minimal tissue trauma and complies with a wide range of suturing requirements.