Automation of Surgical Instruments for Robotic Surgery: Automated Suturing Using the EndoStitch Forceps

Abstract

Suturing in minimally invasive robotic surgery poses significant challenges in terms of technique, du- ration, and tool usage. This study presents an innovative semi-autonomous robotic system for suture automation in minimally invasive surgery. The system integrates motorized EndoStitch forceps with a UR3 collaborative robot, combining robotic dexterity with the functionality of a proven surgical tool. The de- sign of the motorized gripper coupling, the development of a modular ROS-based control architecture, and the implementation of a library of parameterized movements optimized for suturing are described. Exper- imental results, obtained in tissue simulations, demonstrate micrometer accuracy in needle positioning. The variability of the positioning error and its relation to the characteristics of the surgical environment are analyzed. This system represents a representative advance towards reducing the surgeon’s cognitive load, improving accuracy and efficiency in robotic suturing, and opening new avenues for safer and more consistent surgical procedures. The semi-autonomous robotic suturing system demonstrated micrometer- level precision in tests. Mean positioning errors ranged from 0.5 × 10−5 m to 2.0 × 10−5 m, with low standard deviations (highest at 0.70 × 10−5 m) indicating high repeatability.