Alexandre Levy
ABSTRACT
Non-invasive robotized surgery is nowadays largely in action for most interventions because of its very beneficial advantages in terms of patient health and material efficiency. However, the still recurrent problem of guaranteeing the quality of suturing action (ie. avoiding thread breaking) in all robotized interventions is recurrently impairing the overall results from this approach, mainly due to defective haptic information on threads available to the surgeons from the robot. To improve the efficiency of robot-surgeon collaboration, the problem of communicating relevant and reliable information on threads used by surgeons during suturing is addressed in present and subsequent papers. Here, an experimental setup reproducing the sequence of actions undertaken by a surgeon for a suture has been built-up. Main parameters are first identified and results are obtained for different types of threads according to a prescribed protocol. From them, the maximum strength and the maximum elongation of a suture before breaking during robotic surgery will be predicted by machine learning predictive analysis developed in Part II to help the surgeon by giving him a visual return during the operations.
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Index Terms
- An Innovative Approach to Safe Surgical Suturing Part I: Experimental Setup and Tests Protocol
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