Autonomous Robot for Removing Superficial Traumatic Blood

Autor: Yucheng Zhang, Yi Gong, Junchen Wang, Baiquan Su, Han Li, Yijing Xia, Zifeng Ren, Jie Tang, He Wang, Shi Yu, Wei Yao, Xintong Li
Jazyk: angličtina
Rok vydání: 2021
Předmět:
0209 industrial biotechnology
contour detection
Computer science
Swine
Computer applications to medicine. Medical informatics
Biomedical Engineering
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
R858-859.7
02 engineering and technology
Aspirator
Article
GeneralLiterature_MISCELLANEOUS
020901 industrial engineering & automation
Robotic Surgical Procedures
Blood removal
0202 electrical engineering
electronic engineering
information engineering
Medical technology
Animals
Humans
task autonomy
Computer vision
R855-855.5
ComputingMethodologies_COMPUTERGRAPHICS
Surgeons
Robot kinematics
medical robot
business.industry
Medical robot
General Medicine
Robotics
Autonomous robot
Robotic systems
Robot
020201 artificial intelligence & image processing
Remove blood
Artificial intelligence
business
Robotic arm
human activities
Algorithms
Zdroj: IEEE Journal of Translational Engineering in Health and Medicine, Vol 9, Pp 1-9 (2021)
IEEE Journal of Translational Engineering in Health and Medicine
ISSN: 2168-2372
Popis: Objective: To remove blood from an incision and find the incision spot is a key task during surgery, or else over discharge of blood will endanger a patient’s life. However, the repetitive manual blood removal involves plenty of workload contributing fatigue of surgeons. Thus, it is valuable to design a robotic system which can automatically remove blood on the incision surface. Methods: In this paper, we design a robotic system to fulfill the surgical task of the blood removal. The system consists of a pair of dual cameras, a 6-DoF robotic arm, an aspirator whose handle is fixed to a robotic arm, and a pump connected to the aspirator. Further, a path-planning algorithm is designed to generate a path, which the aspirator tip should follow to remove blood. Results: In a group of simulating bleeding experiments on ex vivo porcine tissue, the contour of the blood region is detected, and the reconstructed spatial coordinates of the detected blood contour is obtained afterward. The BRR robot cleans thoroughly the blood running out the incision. Conclusions: This study contributes the first result on designing an autonomous blood removal medical robot. The skill of the surgical blood removal operation, which is manually operated by surgeons nowadays, is alternatively grasped by the proposed BRR medical robot.
Databáze: OpenAIRE
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