Research / Medical Robotics

Continuous Suture by PR2

Autonomous continuous suturing using the PR2 dual-arm personal robot, focusing on suture length management and force feedback.

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PR2 continuous suture

Overview

This project investigates continuous autonomous suturing with a general-purpose dual-arm robot. The work emphasizes practical issues in suturing, especially how to manage the remaining suture length and how to use force feedback during manipulation.

Presentation

This work was presented at the Annual Conference of the Japan Society of Computer Aided Surgery.

Citation

Please cite this project using the following BibTeX entry.

@inproceedings{tsubaki2025suture,
  title = {Autonomous and Safe Continuous Suturing Based on Tension Estimation and Remaining Length Monitoring},
  author = {Tsubaki, Michitoshi and Obinata, Y. and Kanazawa, N. and Hasegawa, S. and Kawaharazuka, K. and Okada, K.},
  booktitle = {The 34th Annual Congress of Japan Society of Computer Aided Surgery},
  year = {2025},
  note = {Presented (Oral)},
  url = {https://doi.org/10.5759/jscas.27.161}
}