Automated suture for a robotic platform to assist laparoscopic surgery

Abstract

Laparoscopic surgery is a minimally invasive surgery that makes small incisions in the patient’s tissue during the procedure. One of the most challenging tasks within this field is robotic suturing. This article studies the automated suturing algorithm using vision and a force-position controller to handle the tool inside the patient. The algorithm collects a first approximation where the tool is positioned at the suture point, but it does not execute the entry and subsequent exit of the needle into the skin. A robotic platform consisting of two manipulator arms, one to manipulate a surgical instrument through the fulcrum point and another intra-abdominal with a camera with two degrees of freedom, is used to perform the experiments of this algorithm. The paper develops vision algorithms for detecting wounds and locating the location of suture points using depth imaging, as well as navigation methods for generating the suture trajectory, and control techniques for positioning the tool at these points without damaging the patient’s abdominal wall. Finally, both the navigation and control systems were validated by in vitro testing.