1. Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning

    Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning

    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, wound detection, keypoint identification, and path planning are all performed automatically. The calibration method handles pose uncertainty when the needle is grasped using a variant of iterative closest points. The path planner uses the identified wound shape to calculate ...

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