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Title: Visual Measurement of Suture Strain for Robotic Surgery

Journal Article · · Computational and Mathematical Methods in Medicine
DOI:https://doi.org/10.1155/2011/879086· OSTI ID:1626202
 [1];  [2];  [2];  [2]
  1. Univ. of Chicago, IL (United States). Dept. of Surgery
  2. Argonne National Lab. (ANL), Argonne, IL (United States)
+ Show Author Affiliations

Minimally invasive surgical procedures offer advantages of smaller incisions, decreased hospital length of stay, and rapid postoperative recovery to the patient. Surgical robots improve access and visualization intraoperatively and have expanded the indications for minimally invasive procedures. A limitation of the DaVinci surgical robot is a lack of sensory feedback to the operative surgeon. Experienced robotic surgeons use visual interpretation of tissue and suture deformation as a surrogate for tactile feedback. A difficulty encountered during robotic surgery is maintaining adequate suture tension while tying knots or following a running anastomotic suture. Displaying suture strain in real time has potential to decrease the learning curve and improve the performance and safety of robotic surgical procedures. Conventional strain measurement methods involve installation of complex sensors on the robotic instruments. This paper presents a noninvasive video processing-based method to determine strain in surgical sutures. The method accurately calculates strain in suture by processing video from the existing surgical camera, making implementation uncomplicated. The video analysis method was developed and validated using video of suture strain standards on a servohydraulic testing system. The video-based suture strain algorithm is shown capable of measuring suture strains of 0.2% with subpixel resolution and proven reliability under various conditions.

Research Organization:
Argonne National Laboratory (ANL), Argonne, IL (United States)
Sponsoring Organization:
USDOE Office of Science (SC)
Grant/Contract Number:
AC02-06CH11357
OSTI ID:
1626202
Journal Information:
Computational and Mathematical Methods in Medicine, Vol. 2011; ISSN 1748-670X
Publisher:
HindawiCopyright Statement
Country of Publication:
United States
Language:
English

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Adapter for contact force sensing of the da Vinci® robot
  • Shimachi, Shigeyuki; Hirunyanitiwatna, Surakij; Fujiwara, Yasunori
  • The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 4, Issue 2 https://doi.org/10.1002/rcs.187
journal January 2008
Mechanical Comparison of 10 Suture Materials before and after in Vivo Incubation journal April 1994
Robot-Assisted Surgery: The Future Is Here journal January 2003
Effect of sensory substitution on suture-manipulation forces for robotic surgical systems journal January 2005
Use of the Hough transformation to detect lines and curves in pictures journal January 1972
Visual clues act as a substitute for haptic feedback in robotic surgery journal December 2007
Effects of visual force feedback on robot-assisted surgical task performance journal January 2008
Computer-assisted telemanipulation: an enabling technology for endoscopic coronary artery bypass journal September 1998

Cited By (5)

Multi-Modal Haptic Feedback for Grip Force Reduction in Robotic Surgery journal March 2019
Biaxial sensing suture breakage warning system for robotic surgery journal January 2019
Novel Tactile Sensor Technology and Smart Tactile Sensing Systems: A Review text January 2019
Robot-Assisted Subtotal Pancreas-Preserving Duodenectomy journal January 2012
Force Sensing in Robot-assisted Keyhole Endoscopy: A Systematic Survey preprint January 2021

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