SurgRob

  "Suturing is a vital surgical task but quality varies widely among surgeons. STITCH 2.0 can perform consecutive running sutures to close a sample wound with the daVinci robot. Compared to STITCH 1.0, STITCH 2.0 can complete more sutures in less time with better wound closure.  STITCH 2.0 tracks the needle with high accuracy by fitting a 3D circle to the needle and refining the needle tip estimate with an Extended Kalman Filter. With precise needle estimates, STITCH 2.0 can keep the needle aligned to the wound with mm-level accuracy, allowing for consistent sutures.  Additionally, STITCH 2.0 includes safeguards allowing the supervising surgeon to intervene at any point and hand control back to the robot. Thanks to Ziyang Chen, Hansoul Kim, and Ken Goldberg for the collaboration! To learn more about our RAL paper, check out the project website (with code): https://lnkd.in/gNGV8sAC   Source: LinkedIn