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Needle shape, diameter, and path are critical parameters that directly affectsuture depth and tissue trauma in autonomous suturing. This paper presents anoptimization-based approach to specify these parameters. Given clinicalsuturing guidelines, a kinematic model of needle-tissue interaction wasdeveloped to quantify suture parameters and constraints. The model was furtherused to formulate constant curvature needle path planning as a nonlinearoptimization problem. The optimization results were confirmed experimentallywith the Raven II surgical system. The proposed needle path planning algorithmguarantees minimal tissue trauma and complies with a wide range of suturingrequirements.

Optimal Needle Diameter, Shape, and Path in Autonomous Suturing