Development and Evaluation of a Single-arm Robotic System for Autonomous Suturing
Jiawei Liu,Michael Kam,Justin D. Opfermann,Zheyuan Zhang,Michael H. Hsieh,Jin U. Kang,Axel Krieger,Jiawei Liu,Michael Kam,Justin D. Opfermann,Zheyuan Zhang,Michael H. Hsieh,Jin U. Kang,Axel Krieger
This article introduces a novel suture managing device (SMD) and new suture management controller to enable single-arm suture management during autonomous suturing with the Smart Tissue Autonomous Robot (STAR). The primary function of the SMD is to tension and manage the suture thread, a task that was previously carried out by a second manipulator or a human assistant. The SMD and its controller a...
