Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening

no code implementations • 13 Jul 2023 • Vincent Schorp, Will Panitch, Kaushik Shivakumar, Vainavi Viswanath, Justin Kerr, Yahav Avigal, Danyal M Fer, Lionel Ott, Ken Goldberg

Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue.

Self-Supervised Learning