Autonomous Robot for Removing Superficial Traumatic Blood

<italic>Objective</italic>: 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 o...

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Autores principales:	Baiquan Su, Shi Yu, Xintong Li, Yi Gong, Han Li, Zifeng Ren, Yijing Xia, He Wang, Yucheng Zhang, Wei Yao, Junchen Wang, Jie Tang
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Blood removal contour detection medical robot task autonomy Computer applications to medicine. Medical informatics R858-859.7 Medical technology R855-855.5
Acceso en línea:	https://doaj.org/article/dde2af3802d546a095f8d9971a76bf54
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id	oai:doaj.org-article:dde2af3802d546a095f8d9971a76bf54
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spelling	oai:doaj.org-article:dde2af3802d546a095f8d9971a76bf542021-11-19T00:00:31ZAutonomous Robot for Removing Superficial Traumatic Blood2168-237210.1109/JTEHM.2021.3056618https://doaj.org/article/dde2af3802d546a095f8d9971a76bf542021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9344844/https://doaj.org/toc/2168-2372<italic>Objective</italic>: 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. <italic>Methods</italic>: 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. <italic>Results</italic>: 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. <italic>Conclusions</italic>: 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.Baiquan SuShi YuXintong LiYi GongHan LiZifeng RenYijing XiaHe WangYucheng ZhangWei YaoJunchen WangJie TangIEEEarticleBlood removalcontour detectionmedical robottask autonomyComputer applications to medicine. Medical informaticsR858-859.7Medical technologyR855-855.5ENIEEE Journal of Translational Engineering in Health and Medicine, Vol 9, Pp 1-9 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Blood removal contour detection medical robot task autonomy Computer applications to medicine. Medical informatics R858-859.7 Medical technology R855-855.5
spellingShingle	Blood removal contour detection medical robot task autonomy Computer applications to medicine. Medical informatics R858-859.7 Medical technology R855-855.5 Baiquan Su Shi Yu Xintong Li Yi Gong Han Li Zifeng Ren Yijing Xia He Wang Yucheng Zhang Wei Yao Junchen Wang Jie Tang Autonomous Robot for Removing Superficial Traumatic Blood
description	<italic>Objective</italic>: 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. <italic>Methods</italic>: 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. <italic>Results</italic>: 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. <italic>Conclusions</italic>: 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.
format	article
author	Baiquan Su Shi Yu Xintong Li Yi Gong Han Li Zifeng Ren Yijing Xia He Wang Yucheng Zhang Wei Yao Junchen Wang Jie Tang
author_facet	Baiquan Su Shi Yu Xintong Li Yi Gong Han Li Zifeng Ren Yijing Xia He Wang Yucheng Zhang Wei Yao Junchen Wang Jie Tang
author_sort	Baiquan Su
title	Autonomous Robot for Removing Superficial Traumatic Blood
title_short	Autonomous Robot for Removing Superficial Traumatic Blood
title_full	Autonomous Robot for Removing Superficial Traumatic Blood
title_fullStr	Autonomous Robot for Removing Superficial Traumatic Blood
title_full_unstemmed	Autonomous Robot for Removing Superficial Traumatic Blood
title_sort	autonomous robot for removing superficial traumatic blood
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/dde2af3802d546a095f8d9971a76bf54
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Autonomous Robot for Removing Superficial Traumatic Blood

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