ArticleIEEE transactions on automation science and engineering : a publication of the IEEE Robotics and Automation Society2018
Real-Time Visual Tracking of Dynamic Surgical Suture Threads.
Article in IEEE transactions on automation science and engineering : a publication of the IEEE Robotics and Automation Society, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers, 1 of them a synthesis that pooled it.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
7 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Current surgical practices of robotic-assisted tissue repair and reconstruction.Chinese journal of traumatology = Zhonghua chuang shang za zhi · 2019Pooled it
- Vaginal Cuff Closure with Dual-Arm Robot and Near-Infrared Fluorescent Sutures.IEEE transactions on medical robotics and bionics · 2021Article
- Shape Estimation for Elongated Deformable Object using B-spline Chained Multiple Random Matrices Model.International journal of intelligent robotics and applications · 2020Article
- Camera-Robot Calibration for the da Vinci® Robotic Surgery System.IEEE transactions on automation science and engineering : a publication of the IEEE Robotics and Automation Society · 2020Article
- Supervised Autonomous Electrosurgery via Biocompatible Near-Infrared Tissue Tracking Techniques.IEEE transactions on medical robotics and bionics · 2019Article
- Autonomous Laparoscopic Robotic Suturing with a Novel Actuated Suturing Tool and 3D Endoscope.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2019Article
- Three-Dimensional Surgical Needle Localization and Tracking Using Stereo Endoscopic Image Streams.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2018Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
5 authors.
Funding
Abstract
In order to realize many of the potential benefits associated with robotically assisted minimally invasive surgery, the robot must be more than a remote controlled device. Currently, using a surgical robot can be challenging, fatiguing, and time consuming. Teaching the robot to actively assist surgical tasks, such as suturing, has the potential to vastly improve both patient outlook and the surgeon's efficiency. One obstacle to completing surgical sutures autonomously is the difficulty in tracking surgical suture threads. This paper presents novel stereo image processing algorithms for the detection, initialization, and tracking of a surgical suture thread. A Non Uniform Rational B-Spline (NURBS) curve is used to model a thin, deformable, and dynamic length thread. The NURBS model is initialized and grown from a single selected point located on the thread. The NURBS curve is optimized by minimizing the image matching energy between the projected stereo NURBS image and the segmented thread image. The algorithms are evaluated using suture threads, a calibrated test pattern, and a simulated thread image. Additionally, the accuracy of the algorithms presented are validated as they track a suture thread undergoing translation, deformation, and apparent length changes. All of the tracking is in real-time. Note to Practioners:
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.