{"doi":"10.48550/arxiv.2002.00530","title":"Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning","abstract":"Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents a robotic suturing system that uses 3D optical coherence tomography (OCT) system for imaging feedback. Calibration of the robot-OCT and robot-needle transforms, wound detection, keypoint identification, and path planning are all performed automatically. The calibration method handles pose uncertainty when the needle is grasped using a variant of iterative closest points. The path planner uses the identified wound shape to calculate needle entry and exit points to yield an evenly-matched wound shape after closure. Experiments on tissue phantoms and animal tissue demonstrate that the system can pass a suture needle through wounds with 0.27 mm overall accuracy in achieving the planned entry and exit points.","journal":"arXiv (Cornell University)","year":2020,"id":123417,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":3,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.961,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2020-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":304355,"name":"Mark Draelos","orcid":"0000-0002-5051-0880","position":1,"is_corresponding":false},{"id":566289,"name":"Gao Tang","orcid":"0000-0003-0156-4759","position":2,"is_corresponding":false},{"id":304357,"name":"Ruobing Qian","orcid":"0000-0001-8465-683X","position":3,"is_corresponding":false},{"id":306352,"name":"Anthony N. Kuo","orcid":null,"position":4,"is_corresponding":false},{"id":304360,"name":"Joseph A. Izatt","orcid":"0000-0003-1993-2249","position":5,"is_corresponding":false},{"id":304359,"name":"Kris Hauser","orcid":"0000-0002-5207-1527","position":6,"is_corresponding":false},{"id":566288,"name":"Yuan Tian","orcid":"0000-0001-6170-7155","position":0,"is_corresponding":true}],"reference_count":16,"raw_metadata":null,"created_at":"2026-07-18T23:14:59.547352Z","pmid":null,"pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}