Annotated Summary

Dehghani, H., Farritor, S., Oleynikov, D., Terry, B. (2018). Automation of Suturing Path Generation for da Vinci-Like Surgical Robotic Systems. Retrieved from https://asmedigitalcollection.asme.org/BIOMED/proceedings/DMD2018/40789/V001T07A008/271978

The engineering team from the University of Nebraska-Lincoln (UNL) develops a new algorithm for surgical robots to perform autonomous suturing. Suturing requires the needle to be inserted orthogonally into the tissue to prevent tissue deformation. Hence, UNL decided on using kinematics analysis and a new algorithm to ensure a safe suturing operation. Firstly, the kinematics of the end-effector grabbing the needle is analysed to determine the end-effector’s initial positioning which the algorithm takes reference from and builds a trajectory for the needle. Secondly, the trajectory is broken down into a series of points and the algorithm ensures the robot moves from one point to another. For the experiment, the Raven-II surgical robot, which is similar to the da Vinci surgical robot, was used. Results show the kinematics of the robot grasping a needle were successfully analysed. The algorithm demonstrated its functionality as it was able to subscribe a position to the robot, and also move the robot to a target point and following a trajectory path. Future works include a vision system for tracking needle and suturing thread, and also performing suturing on a live tissue model with an updated algorithm.

We were able to take the algorithm developed by UNL in this research paper as reference to support our proposed solution for autonomous suturing by surgical robot in our technical report. Even though certain limitations were in place, results show success in the robot following the generated trajectory. Our technical report focuses on the da Vinci robot, which shares similarities to the Raven-II robot, used by UNL during the experiment. This means the algorithm could be easily incorporated into the da Vinci robot as well. Several graphs of the trajectory path and mathematical formulae of the algorithm were published in the research paper to illustrate the methods and results of the algorithm.