论文标题
使用光学相干断层扫描和路径计划进行自动机器人微拆卸
Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning
论文作者
论文摘要
机器人自动化具有帮助人类外科医生在显微外科手术中执行缝合任务的潜力，为了这样做，机器人必须能够通过软组织指导具有亚毫米精度的针头。本文提出了一种使用3D光学相干断层扫描（OCT）系统进行成像反馈的机器人缝合系统。自动执行机器人-OCT和机器人针对变换，伤口检测，关键点识别和路径计划的校准。使用迭代最接近点的变体抓住针头时，校准方法处理姿势不确定性。路径策划者使用确定的伤口形状来计算针头进入，并出口点在闭合后产生均匀匹配的伤口形状。在组织幻象和动物组织上进行的实验表明，该系统可以通过缝合针穿过0.27 mm的伤口，以实现计划的进入和出口点。
Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents a robotic suturing system that uses 3D optical coherence tomography (OCT) system for imaging feedback. Calibration of the robot-OCT and robot-needle transforms, wound detection, keypoint identification, and path planning are all performed automatically. The calibration method handles pose uncertainty when the needle is grasped using a variant of iterative closest points. The path planner uses the identified wound shape to calculate needle entry and exit points to yield an evenly-matched wound shape after closure. Experiments on tissue phantoms and animal tissue demonstrate that the system can pass a suture needle through wounds with 0.27 mm overall accuracy in achieving the planned entry and exit points.
