Surgical Bleeding Removal And Incision Closure Robot

This study addresses two fundamental and general tasks in surgery,aiming at achieving autonomy for bleeding removal and incision closure tasks,and addressing key issues in the development of robotic systems.In this regard,proposed and implemented an autonomous method for bleeding removal and incision closure in a constructed dual-task robotic system.Finally,the feasibility of the proposed system is experimentally verified and performance metrics of the prototype system are presented.The main work of this study is as follows.Firstly,an autonomous approach for the task of bleeding removal is proposed.To begin with,a bleeding scene dataset is built,as well as the deep learning-based detection and contour segmentation of bleeding regions are implemented.Next,a bleeding region sorting method is proposed to obtain the location of blood contours by combining point set registration method and binocular vision technique.Then,real-time solution and recording of attractor position and pose is achieved based on the recognition and localization method of ArUco board.Finally,based on the above detection results,an outside-in blood suction path planning method is designed.Secondly,an autonomous approach for the incision closure task is proposed,which implements the two subtasks of incision stapling and staple removal.Initially,a multi-target template matching method is combined with edge detection or straight line detection to identify incisions or skin staples.Later,proposed a critical point screening and ranking method,which is combined with binocular localization method to obtain the critical points of incisions or skin staples and their spatial locations.Finally,a method is designed to autonomously plan the stapling or staple removal paths based on the incision or skin staple position.Thirdly,a dual-task robotic system for bleeding removal and incision closure is constructed to implement the above method.The dual-task robotic system consists of hardware system,software system,and motion control process,and the cooperation of the three can achieve the autonomous completion of bleeding removal and incision closure tasks.Simultaneous task performance analysis experiments and joint validation experiments were conducted to demonstrate the feasibility of the system,as well as to analyze the main performance metrics for completing the tasks.It is shown that the proposed robotic system can efficiently perform bleeding removal and incision closure tasks without human intervention,while providing high levels of accuracy and stability.As a result,this work helps reduce the workload of surgeons,allowing them to focus on more critical surgical tasks,thus improving surgical efficiency.At the same time,autonomous surgery without human intervention contributes to the reduction of intra-operative infection risk and enhances the level of autonomy of surgical robots.Moreover,this system can be combined with other surgical task robots to expand more autonomous application scenarios,providing fundamental technical support for the autonomy in various surgical tasks.