Trajectory Planning of Knot-Tying Manipulation in Surgery

Abstract

Due to demands for stability, accuracy and lower postoperative complication in surgery, robotic surgical assistants may assist surgeons by performing specific subtasks such as suturing and knot-tying to reduce surgeon tedium and duration of some exhausting operations. To improve the surgical knot quality and accelerate healing for patients in surgery, trajectory planning of suture clamping point in knot-tying manipulation using a master-slave robot is discussed based on the surgeon’s manual motion of knot-tying. First, the manual knot-tying process is described, and then according to task sequences, trajectories planning of suture clamping point in looping step based on motion synthesis of rotating joint and swinging joint and pulling step based on slip knot theory are proposed separately to form a knot. To verify the reasonability of trajectory planning, knot-tying motion is simulated by Solidworks. And finally the knot-tying experiment is implemented on the specific robotic setup. The results show that the proposed trajectory planning of knot-tying is feasible in the automation of surgical knot-tying manipulation.

Design and development of an anthropomorphic shoe-tying robot

“…Thus, a higher quality camera must be used to ensure the success of the shoe-tying operation. The loop made by the robotic hand is bigger compared to the ones made by the simple mechanism in [4]. This may due to the bigger size of the robotic hand compared to the mechanism.…”

“…et al [3] designed a knot-tying end-effector by mimicking human hands making a clove hitch knot. Xiao et al [4] studied the trajectory planning of knot-tying operation by robots in surgery. Osanai et al [5] developed a shoe-tying machine which can be controlled using joystick.…”

Design and research of a robotic system for ultrasonic‐assisted lamellar keratoplasty

“…Therefore, an ultrasonic-assisted lamellar keratoplasty robotic system has been developed based on the former research [6][7][8], which was designed to realise the high-precision automatic control of the corneal cutting depth.…”

“…Robots have the advantages of stability and high precision. Some research works on robot‐assisted trephination [6], suturing and knotting [7] have been done by the research team at the Beijing University of Aeronautics and Astronautics, which aim to overcome the limitations of manual operation.…”