Robotic sewing and knot tying for personalized stent graft manufacturing
File(s)1803.08478v1.pdf (2.97 MB)
Accepted version
Author(s)
Hu, Yang
Zhang, Lin
Li, Wei
Yang, Guang-Zhong
Type
Conference Paper
Abstract
This paper presents a versatile robotic system for sewing 3D structured
object. Leveraging on using a customized robotic sewing device and closed-loop
visual servoing control, an all-in-one solution for sewing personalized stent
graft is demonstrated. Stitch size planning and automatic knot tying are
proposed as the two key functions of the system. By using effective stitch size
planning, sub-millimetre sewing accuracy is achieved for stitch sizes ranging
from 2mm to 5mm. In addition, a thread manipulator for thread management and
tension control is also proposed to perform successive knot tying to secure
each stitch. Detailed laboratory experiments have been performed to access the
proposed instruments and allied algorithms. The proposed framework can be
generalised to a wide range of applications including 3D industrial sewing, as
well as transferred to other clinical areas such as surgical suturing.
object. Leveraging on using a customized robotic sewing device and closed-loop
visual servoing control, an all-in-one solution for sewing personalized stent
graft is demonstrated. Stitch size planning and automatic knot tying are
proposed as the two key functions of the system. By using effective stitch size
planning, sub-millimetre sewing accuracy is achieved for stitch sizes ranging
from 2mm to 5mm. In addition, a thread manipulator for thread management and
tension control is also proposed to perform successive knot tying to secure
each stitch. Detailed laboratory experiments have been performed to access the
proposed instruments and allied algorithms. The proposed framework can be
generalised to a wide range of applications including 3D industrial sewing, as
well as transferred to other clinical areas such as surgical suturing.
Date Issued
2019-01-07
Date Acceptance
2018-06-22
Citation
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), 2019
Publisher
IEEE
Journal / Book Title
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Copyright Statement
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
http://arxiv.org/abs/1803.08478v1
Source
IROS 2018
Subjects
cs.RO
cs.RO
Notes
Submitted to IROS2018
Publication Status
Published
Start Date
2018-10-01
Finish Date
2018-10-05
Coverage Spatial
Madrid, Spain
Date Publish Online
2019-01-07