Stitching path planning using circular needles-tissue interaction model

This paper presents a path planning algorithm for robotic assisted stitching. The method uses a nonlinear model for curved needle - soft tissue interaction. The proposed method can be used for autonomous robotic suturing. The performance of the algorithm was assessed through simulations and experiments. The experimental results illustrate that the path planned curved needle insertions are fifty percent more accurate than the unplanned ones. The results also show that an open loop approach is sensitive to model parameters.