Dual-Arm Robotic Needle Insertion With Active Tissue Deformation for Autonomous Suturing
A new robot control framework to solve target deviation by integrating active deformation control is presented in this video. We characterize the motion behavior of the desired target under needletissue interaction by introducing the needle-induced deformation matrix. Note that the modelling does not require the exact knowledge of tissue or needle insertion properties. The unknown parameters are online updated during the insertion procedure by an adaptive estimator via sensor-based measurement. A closedloop controller is then proposed for dual-arm robotic execution upon image guidance. The dual-arm control aims to regulate a feature vector concerning the tip-target alignment to ensure target reachability. The feasibility of the proposed algorithm is studied via simulations and experiments on different biological tissues to simulate robotic minimally-invasive suturing using the da Vinci Research Kit (dVRK) as the control platform.
Related Paper: (RA-L with IROS presentation)
https://ieeexplore.ieee.org/document/...