Research in SciRobotics shows a robot stitching together pig intestine using autonomous robotic laparoscopic technique for anastomosis.
Representative histology examples from each anastomosis tissue operated on with STAR , and manual laparoscopic control test . The approximate location of each anastomosis is indicated with an arrow. Squares near each anastomosis represent the location of the magnified images. PMN cell as a surrogate measure of inflammation for each sample. Representative examples of the anastomosis collected at necropsy for STAR and control tests.
In this study, STAR achieved a leak pressure of 0.69 ± 0.59 psi and a lumen patency of 88.75 ± 4.79%, which are both consistent with our previous results in open surgeries . The average task completion time for STAR was 62.03 ± 5.32 min compared with 25.6 min for the control. Similar to the phantom tests, STAR was slower to complete the task primarily due to the additional planning , safe tool rotations , and task supervisions .
In all four in vivo tests, STAR completed a total of 86 stitches . The total number of sutures requiring manual adjustments were 29 , which corresponded to an average of 0.34 suture hesitancy per stitch. These attempts included 14 corner stitches and 15 stitches along the back and front walls. Compared with the phantom tests, a higher average number of attempts were required to adjust the offsets manually via the GUI .
Despite these achievements, some limitations exist in the current methods and the results. Currently, a successful implementation of the robot control algorithms depends on the reachability and correct staging of the tissue in a certain working region. This does not allow any arbitrary tissue staging given the limitations of the camera system and robot’s kinematic architecture.
In the current version of the system, the laparoscopic dual-camera system has a 3-cm footprint that requires the use of a gel port for camera insertions. This will also increase the chance of a gel port blocking the robotic suture tool or inducing extra pressure and slight positioning errors at the tool control point.
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