Dual-Arm Robotic Needle Insertion With Active Tissue Deformation for Autonomous Suturing

A major issue for needle insertion into soft tissue during suturing is the induced tissue deformation that hinders the minimization of tip-target positioning error. In this letter, we present a new robot control framework to solve target deviation by integrating active deformation control. We characterize the motion behavior of the desired target under needle-tissue interaction by introducing the ...