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Automating the process of manipulating and delivering sutures during roboticsurgery is a prominent problem at the frontier of surgical robotics, asautomating this task can significantly reduce surgeons' fatigue duringtele-operated surgery and allow them to spend more time addressing higher-levelclinical decision making. Accomplishing autonomous suturing and suturemanipulation in the real world requires accurate suture thread localization andreconstruction, the process of creating a 3D shape representation of suturethread from 2D stereo camera surgical image pairs. This is a very challengingproblem due to how limited pixel information is available for the threads, aswell as their sensitivity to lighting and specular reflection. We present asuture thread reconstruction work that uses reliable keypoints and a MinimumVariation Spline (MVS) smoothing optimization to construct a 3D centerline froma segmented surgical image pair. This method is comparable to previous suturethread reconstruction works, with the possible benefit of increased accuracy ofgrasping point estimation. Our code and datasets will be available at:https://github.com/ucsdarclab/thread-reconstruction.

Suture Thread Spline Reconstruction from Endoscopic Images for Robotic Surgery with Reliability-driven Keypoint Detection