The following is a video of the presentation of the paper as given at the IROS 2013 Conference in Tokyo.
It is followed by demonstrations of the proposed algorithm for various suturing settings.
Suturing with Raven II (simulation)
The algorithm was validated on a physics simulation using a Raven II surgical robot. These simulation experiments are interesting because (1) being in simulation, they are more readily reproducible and a larger number of experiments can
be run, (2) begin a surgical robot, the Raven II has unique kinematics: non-redundant arm kinematics and a remote center of motion.
The Raven II robot performs a suture stitch - which means two punctures and a knot tie. To test trajectory generalization in the presence of non-rigid perturbations, the left flap of the suturing pad was kept unchanged but the right flap was perturbed by translations and rotations.
The following is a video of an experiment run on the Raven II. It includes a human demonstration and the performance of the robot for a particular perturbed setup.