Simulated results integrating data from expert surgeon demonstrations suggest that optimizing over both suture position and direction increases dexterity reward ...
In this paper, we explore how the positions and directions of sutures can be optimally planned to avoid areas of the configuration space that are close to joint ...
The identification of such singularities is achieved by solving the following non-linear equation: det(J(q)) = 0 (5) if the robot is non-redundant and det(J(q) ...
Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities. Thananjeyan, B., Tanwani, A., Ji, J., Fer, D., Patel, V., Krishnan, S., ...
In single-port access surgeries, robot size is crucial due to the limited workspace. Thus, a robot may be designed under-actuated. Suturing, in contrast, is a ...
Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities. B. Thananjeyan, A. Tanwani, J. Ji, D. Fer, V. Patel, S. Krishnan, ...
Abstract. Laparoscopic robots such as the da Vinci Research Kit encounter joint limits and singularities during procedures, leading to errors and prolonged ...
Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities. B Thananjeyan, A Tanwani, J Ji, D Fer, V Patel, S Krishnan, K Goldberg.
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An algorithm that computes entry and exit points to optimize suture forces, improving wound closure and minimizing scarring.
Thananjeyan et al., “Optimizing Robot-Assisted Surgery Suture. Plans to Avoid Joint Limits and Singularities,” in 2019 International. Symposium on Medical ...