Knotting Mechanisms and a Knotting Theory

Abstract In the filed of remote manipulation, it is generally required to manipulate objects through elongated tools or through a tele-operation system. In the field of EndoSurgery, one of the challenging tasks for the surgeons is the notion of knotting a suture. This is done by using long graspers and needle drivers which have constrained degrees of freedom caused by the ports of entry to the surgical area. In general, this task is the most time consuming one and requires degree of dexterity which is not available. The objective of this paper is to present an overview of the patented design features of various knotting assisting mechanisms which have been invented for automating aspect of knotting and discussion on a novel and practical design concept. Then this paper presents how the notion of the Knot Theory which is mathematical abstraction can be extended to develop a Graphical Surgeon Interface (GSI) in order to guide the operator during the remote manipulation of the suture during the knotting task and also during the training phases using a haptic interface device.