Robotic knot tying through a spatial trajectory with a visual servoing system

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)


Robot assisted surgery has become increasingly popular with the rapid development of more sophisticated robotic systems. Nevertheless, there are still many tedious surgical tasks that remain to be performed manually by surgeons with high supervisions. One example is to tie a surgical knot during the surgery, which includes the processes of needle threading, suture looping, suture tail grasping and suture pulling. In this research, we present a new method for robotic suture looping process. This method is based on a spatial trajectory planning for the surgical instruments, where challenges such as suture slippage and potential collisions between the instruments could be eliminated. In contrast to conventional looping process, a dynamic control scheme is proposed to optimize the time and workspace required to complete the process. Vision information is incorporated in order to enable closed loop control of the robotic system with Linear Quadratic (LQ) controller. A series of experiments were conducted in order to examine the performance of the proposed control scheme and the results confirmed that surgical knots can be successfully tied robotically, offering new insights to the field of automated robotassisted surgery.
Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
Number of pages7
ISBN (Electronic)9781538626825
Publication statusPublished - 13 Dec 2017
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 24 Sep 201728 Sep 2017


Conference2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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