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Anglický jazyk
A System For Automated Vision Guided Suturing
Autor: Santosh Iyer
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,... Viac o knihe
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O knihe
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.
- Vydavateľstvo: LAP LAMBERT Academic Publishing
- Rok vydania: 2014
- Formát: Paperback
- Rozmer: 220 x 150 mm
- Jazyk: Anglický jazyk
- ISBN: 9783659461248
