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Experimental analysis identifies key factors affecting needle deflection in robotic suturing, suggesting improvements for automated techniques.
This study investigates factors influencing micro suture needle bending in robotic surgery. An experiment was conducted, varying needle shape, curvature, tissue elasticity, suturing velocity, and suturing patterns. Regression analysis and torque measurements revealed that curvature radius and its interaction with needle shape significantly affect deflection. The dominant factors differed across suturing patterns due to variations in tissue contact conditions. These findings support the development of deflection-aware needle designs and control strategies for safe automated suturing.
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Fukushima et al. (2026) studied this question.
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