Workspace Analysis of Robotic Surgical Manipulators

Dec 1, 2001 · 1 min read
Robot workspace diagram.
old-project

Goals

As part of my research on the robotic telesurgical system for laparoscopy, I have also developed a method to evaluate the kinematic ability of surgical robotic manipulators to perform the critical tasks of suturing and knot tying. The method uses open (i.e., non-MIS) surgical suturing motion data collected from experiments done with expert surgeons. One oft he goals of robotic telesurgical systems is to enable the surgeons to use open surgical techniques for suturing and knot tying in the MIS setting by having robotic tools with sufficient dexterity and a suitable user interface. Therefore, open surgical suturing motion data is used in the analysis. This way, it is possible to evaluate if the system can be used with the natural open surgical techniques, without the need of learning new ways to perform these tasks.

Medical Robotics Surgical Robotics
M. Cenk Cavusoglu
Authors
M. Cenk Cavusoglu
Nord Professor of Engineering
M. Cenk Cavusoglu is the Nord Professor of Engineering in Electrical, Computer, and Systems Engineering at Case Western Reserve University. He is also the director of the Medical Robotics and Computer Integrated Surgery (MeRCIS) Laboratory. His research focuses on medical robotics, haptics, human–machine interfaces, and control, spanning control, mechanism, and system design to AI-assisted interventions. He is a Fellow of AIMBE. He has led 12 federally funded projects as principal investigator, with a total budget over $12.6M, and has served on editorial boards for leading robotics and mechatronics journals. His work advances safe, precise, and intelligent robotic systems for surgery and image-guided interventions.