Arquitectura funcional para una sutura robótica automatizada en cirugía laparoscópica

Abstract

[Abstract] Laparoscopic surgery is a minimally invasive surgery that makes small incisions in the patient’s tissue during the procedure. One of the most challenging tasks within this field is suturing performed with robots. This article presents an automated robotic suturing strategy designed to coordinate the collaboration between the surgeon and the robotic arms. The approach uses a robotic platform consisting of three manipulator arms and two haptic devices. For the automation of the task the article explains the use of an ontology-based inference engine and workflow recognition to be aware of where the system is in the process and to infer what actions should be done; and the use of control techniques to position the instruments inside the patient without exerting damage to the abdomen.