A case study of trajectory transfer through non-rigid registration for a simplified suturing scenario

@article{Schulman2013ACS,
  title={A case study of trajectory transfer through non-rigid registration for a simplified suturing scenario},
  author={John Schulman and Ankush Gupta and Sibi Venkatesan and Mallory Tayson-Frederick and Pieter Abbeel},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={4111-4117}
}
Suturing is an important yet time-consuming part of surgery. A fast and robust autonomous procedure could reduce surgeon fatigue, and shorten operation times. It could also be of particular importance for suturing in remote tele-surgery settings where latency can complicate the master-slave mode control that is the current practice for robotic surgery with systems like the da Vinci®. We study the applicability of the trajectory transfer algorithm proposed in [12] to the automation of suturing… CONTINUE READING

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