Authors
Artur Sagitov1, [email protected], Tatyana Tsoy1, [email protected], Hongbing
Li2, [email protected], Evgeni Magid1, [email protected]
1
Intelligent Robotics Department, Higher School of Information Technology
and Information Systems, Kazan Federal University, Kremlyovskaya str. 35,
Kazan, Russian Federation
2
Department of Instrument Science and Engineering, Shanghai Jiao Tong University,
Shanghai, China
http://kpfu.ru/robolab.html
Available Online 30 September 2018.
DOI
https://doi.org/10.2991/jrnal.2018.5.2.16
Keywords
Robotics; robot assisted surgery; medical robotics; manipulator; algorithm;
modelling; trajectory
Abstract
Today one of the key disadvantages of robotic surgery is a lack of a haptic
feedback, while in traditional surgery a surgeon uses human haptic senses
in all tasks. Providing robots with a haptic feedback have a high potential
of reducing time that is spent by a surgeon on suturing subtasks and helping
to reduce a surgeon fatigue. Decreasing manual input of a surgeon enables
remote surgery even under long communication links with significant latency.
In this paper we present a framework of wound detection and suture planning.
We plan to implement and test our algorithms using KUKA iiwa manipulator.
Copyright
Copyright © 2018, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).