Objective : To remove blood from an incision and find the incision spot is a key task during surgery, or else over discharge of blood will endanger a patient’s life. However, the repetitive manual blood removal involves plenty of workload contributing fatigue of surgeons. Thus, it is valuable to design a robotic system which can automatically remove blood on the incision surface. Methods : In this paper, we design a robotic system to fulfill the surgical task of the blood removal. The system consists of a pair of dual cameras, a 6-DoF robotic arm, an aspirator whose handle is fixed to a robotic arm, and a pump connected to the aspirator. Further, a path-planning algorithm is designed to generate a path, which the aspirator tip should follow to remove blood. Results : In a group of simulating bleeding experiments on ex vivo porcine tissue, the contour of the blood region is detected, and the reconstructed spatial coordinates of the detected blood contour is obtained afterward. The BRR robot cleans thoroughly the blood running out the incision. Conclusions : This study contributes the first result on designing an autonomous blood removal medical robot. The skill of the surgical blood removal operation, which is manually operated by surgeons nowadays, is alternatively grasped by the proposed BRR medical robot.

中文翻译：

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用于去除浅表外伤血的自主机器人

客观的 ：从切口中取出血液并找到切口部位是手术过程中的一项关键任务，否则过度排出血液会危及患者的生命。然而，重复的手动取血涉及大量的工作量，导致外科医生的疲劳。因此，设计一种能够自动去除切口表面血液的机器人系统是很有价值的。方法 ：在本文中，我们设计了一个机器人系统来完成血液去除的手术任务。该系统由一对双摄像头、一个 6-DoF 机械臂、一个手柄固定在机械臂上的吸气器和一个连接到吸气器的泵组成。此外，路径规划算法旨在生成一条路径，抽吸器尖端应遵循该路径以去除血液。结果 ：在一组离体猪组织的模拟出血实验中，检测血液区域的轮廓，然后得到检测到的血液轮廓的重建空间坐标。BRR 机器人彻底清洁从切口流出的血液。结论 ：这项研究贡献了设计自主采血医疗机器人的第一个结果。现在由外科医生手动操作的外科血液去除操作的技能由所提出的 BRR 医疗机器人交替掌握。