Autonomous Bi-Manual Surgical Suturing Based on Skills Learned from Demonstration
Kim L. Schwaner,Iñigo Iturrate,Jakob K. H. Andersen,Pernille T. Jensen,Thiusius R. Savarimuthu,Kim L. Schwaner,Iñigo Iturrate,Jakob K. H. Andersen,Pernille T. Jensen,Thiusius R. Savarimuthu
We present a novel application of Learning from Demonstration to realize a fully autonomous bi-manual surgical suturing task, including needle pick up, insertion, re-grasping, extraction and hand-over. Surgical action primitives are learned from a single human demonstration and encoded into an action library from which they are pulled to compose more elaborate tasks at planning/execution time. The...
