NDLI: KidsArm — An image-guided pediatric anastomosis robot

Content Provider	IEEE Xplore Digital Library
Author	Looi, T. Yeung, B. Umasthan, M. Drake, J.
Copyright Year	2013
Description	Author affiliation: Centre of Image-Guided Innovation & Therapeutic Intervention, Hosp. for Sick Children, Toronto, ON, Canada (Looi, T.; Drake, J.)
Abstract	Minimally invasive surgery (MIS) revolutionized surgery by drastically reducing patient recovery times by allowing surgeons to perform procedures through a series of small incisions. However, MIS has also increased the complexity of the tasks as tools did not have the same degrees of freedom and dexterity compared to open procedures. In particular, pediatric patients pose a unique challenge as they have smaller volumes and different tissue properties. Our group designed KidsArm, an image-guided pediatric surgical robot, to automate anastomosis. KidsArm is single port anastomosis tool that uses a pair of stereo cameras to generate a 3D point cloud to guide the tool tip and apply a series of sutures. The system was designed to be minimally invasive and constrained by standard pediatric trocar sizes while also being automated. An image processing system was created to extract and track surface features on the simulated tissue samples while providing feedback to the robot controller. The system was tested on two scenarios: side-to-side and end-to-end silicone samples. KidsArm successfully applied 3 sutures autonomously on the side-to-side scenario however the end-to-end scenario proved to be more difficult due to greater deformation and workspace restrictions. However, KidsArm demonstrates that it is feasible for a robot to autonomously perform anastomosis. More work will be required to accelerate the process and characterize the behavior with tissue samples.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4105
Ending Page	4110
File Size	331089
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696944
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Three-dimensional displays Joints Surgery Cameras Feature extraction
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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