Autonomous suturing using minimally invasive surgical robots

This paper presents the design and implementation of a new robotic system for assisting surgeons in performing minimally invasive surgical procedures. This system is designed for collaborative operation between the surgeon and the robot. In addition, it contains the following attributes: quick interchangeable end tools, programmable collaboration with the surgeon, and coordinated motion of multiple robotic devices for performing complex procedures. Two such devices have been built with a variety of end tools. The system has demonstrated direct manual operation, remote teleoperation, and surgeon-supervised autonomous stitching and knot tying. In addition to the mechanical design, several autonomous knot tying algorithms, and the associated kinematic requirement, are discussed.