PASSAGE - Pioneering Autonomous Suturing for Single-port Access surGEry

Unlike conventional minimal invasive surgery (MIS), Single-port access surgery (SPA) utilizes only a single incision or a natural orifice to access the surgical space. While further reducing the risk for morbidity and shortening the recovery period, the single access approach magnifies the technical difficulties such as poor eye-hand coordination, limited vision and haptic feedback, notably in utero repair of open spina bifida. Recently a miniature SPA robotic system has been developed at KU Leuven featuring multiple flexible instrument arms. While paving the way for a new treatment option, a significant mental load is expected when conducting complex gestures, such as suturing, with this system. PASSAGE will therefore develop new concepts and algorithms for autonomous robotic suturing. The envisioned contributions in terms of tracking and control of flexible instruments, automatic detection of defects and trajectory planning will have their own scientific merit. Through these building blocks, PASSAGE will pioneer autonomous suturing for miniature SPA systems. Demonstrated on fetal scenarios, one can expect that ample surgical applications could benefit from this work.