Learning medical suturing primitives for autonomous suturing
dc.contributor.author | Amirshirzad, Negin | |
dc.contributor.author | Sunal, Begüm | |
dc.contributor.author | Bebek, Özkan | |
dc.contributor.author | Öztop, Erhan | |
dc.date.accessioned | 2023-05-15T07:32:35Z | |
dc.date.available | 2023-05-15T07:32:35Z | |
dc.date.issued | 2021 | |
dc.identifier.isbn | 978-166541873-7 | |
dc.identifier.issn | 2161-8070 | en_US |
dc.identifier.uri | http://hdl.handle.net/10679/8261 | |
dc.identifier.uri | https://ieeexplore.ieee.org/document/9551415 | |
dc.description.abstract | This paper focuses on a learning from demonstration approach for autonomous medical suturing. A conditional neural network is used to learn and generate suturing primitives trajectories which were conditioned on desired context points. Using our designed GUI a user could plan and select suturing insertion points. Given the insertion point our model generates joint trajectories on real time satisfying this condition. The generated trajectories combined with a kinematic feedback loop were used to drive an 11-DOF robotic system and shows satisfying abilities to learn and perform suturing primitives autonomously having only a few demonstrations of the movements. | en_US |
dc.description.sponsorship | TÜBİTAK | |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation | info:turkey/grantAgreement/TUBITAK/119E036 | |
dc.relation.ispartof | 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE) | |
dc.rights | restrictedAccess | |
dc.title | Learning medical suturing primitives for autonomous suturing | en_US |
dc.type | Conference paper | en_US |
dc.publicationstatus | Published | en_US |
dc.contributor.department | Özyeğin University | |
dc.contributor.authorID | (ORCID 0000-0003-2721-9777 & YÖK ID 43734) Bebek, Özkan | |
dc.contributor.authorID | (ORCID 0000-0002-3051-6038 & YÖK ID 45227) Öztop, Erhan | |
dc.contributor.ozuauthor | Bebek, Özkan | |
dc.contributor.ozuauthor | Öztop, Erhan | |
dc.identifier.volume | 2021 | en_US |
dc.identifier.startpage | 256 | en_US |
dc.identifier.endpage | 261 | en_US |
dc.identifier.wos | WOS:000878693200034 | |
dc.identifier.doi | 10.1109/CASE49439.2021.9551415 | en_US |
dc.identifier.scopus | SCOPUS:2-s2.0-85117054261 | |
dc.contributor.ozugradstudent | Amirshirzad, Negin | |
dc.contributor.ozugradstudent | Sunal, Begüm | |
dc.relation.publicationcategory | Conference Paper - International - Institutional Academic Staff and Graduate Student |
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