Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning
Yuan Tian,Mark Draelos,Gao Tang,Ruobing Qian,Anthony Kuo,Joseph Izatt,Kris Hauser,Yuan Tian,Mark Draelos,Gao Tang,Ruobing Qian,Anthony Kuo,Joseph Izatt,Kris Hauser
Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents a robotic suturing system that uses 3D optical coherence tomography (OCT) system for imaging feedback. Calibration of the robot-OCT and robot-needle transforms,...
