TY - GEN
T1 - Towards Suturing from Within the Urethra Using Concentric Tube Robots
T2 - 2022 International Symposium on Medical Robotics, ISMR 2022
AU - Ertop, Tayfun Efe
AU - D'Almeida, Jesse F.
AU - Amanov, Ernar
AU - Shrand, Jason
AU - Nimmagadda, Naren
AU - Setia, Shaan
AU - Kavoussi, Nicholas L.
AU - Herrell, S. Duke
AU - Webster, Robert J.
N1 - Funding Information:
This material is based upon work supported by the National Institutes of Health under grant R01 EB026901. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the NIH.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Towards reducing the invasiveness of radical prostatectomy, we have designed a robotic system for performing it transurethrally. Suturing to attach the urethra to the bladder (i.e. anastomosis) after prostate removal is the most challenging part of the procedure, and has previously been demonstrated robotically only in synthetic phantoms. In this paper, we present initial experiments in biological tissues using ex vivo squid tissue embedded in an anthropomorphic phantom made using 3D printing and silicone casting. We successfully performed running sutures with our robotic system, fastening the urethra and the bladder to one another.
AB - Towards reducing the invasiveness of radical prostatectomy, we have designed a robotic system for performing it transurethrally. Suturing to attach the urethra to the bladder (i.e. anastomosis) after prostate removal is the most challenging part of the procedure, and has previously been demonstrated robotically only in synthetic phantoms. In this paper, we present initial experiments in biological tissues using ex vivo squid tissue embedded in an anthropomorphic phantom made using 3D printing and silicone casting. We successfully performed running sutures with our robotic system, fastening the urethra and the bladder to one another.
UR - http://www.scopus.com/inward/record.url?scp=85134363185&partnerID=8YFLogxK
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U2 - 10.1109/ISMR48347.2022.9807548
DO - 10.1109/ISMR48347.2022.9807548
M3 - Conference contribution
AN - SCOPUS:85134363185
T3 - 2022 International Symposium on Medical Robotics, ISMR 2022
BT - 2022 International Symposium on Medical Robotics, ISMR 2022
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 13 April 2022 through 15 April 2022
ER -